双闭环策略下非完整轮式机器人鲁棒自适应运动/力协调控制(英文)

Adaptive robust motion/force coordinated control of nonholonomic wheeled mobile robot via a double closed-loop strategy

中文关键词  轮式机器人  运动/力  协调控制  双闭环

英文关键词  wheeled mobile robot  motion/force  coordinated control  double closed-loop

中文摘要

      非完整轮式移动机器人的路径跟踪, 需要在保证机器人姿态跟踪精度的同时, 增强其地面适应性能. 为实现这种运动/力的协调控制目标, 本文提出双闭环的控制系统结构: 外环能够增加运动精度, 内环则可以增强机器人对地面动态摩阻的适应性. 同时, 考虑到地面摩阻的慢时变性, 本文通过构造观测器对其进行估计. 在具体算法实现方面, 采用反步法在外环构建运动控制器: 而在内环, 则是应用积分型的滑模技术设计力控制器与观测器. 最后, 对控制系统进行仿真, 仿真结果证明所提出控制方法的有效性.

英文摘要

      Path following of a nonholonomic wheeled mobile robot should harmoniously guarantee the accurate robot posture tracking and the enhancing terrain-adaptive performance. To realize this coordinated motion/force objective, we propose a double closed-loop control structure with the outer loop to improve the motion accuracy and the inner loop to enhance the dynamic terrain friction adaptability. Meanwhile, the uncertain terrain friction is estimated by an observer considering its slow time-varying characteristic. In order to realize the control algorithms, we developed the motion controller for the outer loop via backstepping method; and apply the integral sliding mode technique to design the observer and the force controller for the inner loop. Simulations are performed and the results demonstrate the effectiveness of the proposed control schemes.