时滞的非完整动力学系统滑模抗干扰跟踪控制

Sliding mode anti-interference tracking control for nonholonomic dynamical systems with time delay

中文关键词  非完整移动机器人  滑模控制  时滞  外部扰动

英文关键词  nonholonomic mobile robot  sliding mode control  time delay  external disturbance

中文摘要

      针对具有外部扰动和时滞的非完整轮式移动机器人系统, 本文阐述了一种基于非线性扰动观测器的时滞 滑模控制方法. 首先, 利用扰动观测器估计系统的外部扰动; 然后, 用极坐标转化移动机器人的姿态, 并用计算转矩 法对机器人的动力学方程进行反馈线性化. 设计带时滞控制的滑模, 目的是使移动机器人渐近稳定在期望轨迹上, 并有效地减小控制增益的过高估计. 最后, 利用李雅普诺夫函数建立闭环系统的稳定性. 仿真结果表明, 该方案具 有良好的跟踪精度和鲁棒性.

英文摘要

      In this article, a time delay estimation sliding mode control method based on nonlinear disturbance observer is presented for trajectory tracking of nonholonomic wheeled mobile robot systems with time delays and external disturbances. Firstly, the disturbance observer is used to estimate the external disturbance of the system, and then the posture of a mobile robot is represented by polar coordinates and the dynamic equation of the robot is feedback-linearized by the computedtorque method, the sliding mode with time delay control is designed for asymptotically stabilizing the mobile robot to a desired trajectory and effectively reduce the overestimation of control gain. The Lyapunov function are invoked to establish the stability of the closed loop system. Simulation results demonstrate the effectiveness of accurate tracking capability and the robust performance of the proposed scheme.