全向移动机器人模糊自适应滑模控制方法研究

摘要

Aiming at the problem that the wheel slip and other uncertain nonlinear factors which affect the trajectory tracking accuracy of omni-directional mobile robot with Mecanum wheels, it presents a trajectory tracking control method based on dynamic model.It analyzes the kinematics and dynamics of the robot, discusses the chattering phenomenon of conventional sliding mode control law with fixed gain, proposes a fuzzy adaptive adjusting gain sliding mode control method, and proves the stability of the system in Lyapunov's function.Finally, under different disturbance, it takes a straight line and a circle as the reference trajectory for tracking simulation respectively.The results show that the control system has better anti-interference and robustness.Comparing with the fixed gain sliding mode control method, this method improves the chattering phenomenon of the control inputs very well, lays a theoretical foundation for the omni-directional mobile robots in the actual trajectory tracking control.%针对Mecanum轮型全向移动机器人在车轮打滑和重心偏移等不确定非线性因素影响下的轨迹跟踪精度问题,提出了一种基于动力学模型的轨迹跟踪控制方法.首先,对机器人进行了运动学与动力学分析.然后,根据传统固定增益滑模控制律存在的抖振现象,设计了基于模糊自适应增益调整的滑模控制器,并通过李雅普洛夫函数证明了控制系统的稳定性.最后在不同扰动作用下,分别以圆和直线为参考轨迹进行跟踪仿真.结果表明:该控制系统具有较好的抗干扰性和鲁棒性;对比固定增益滑模控制方法,笔者所提方法很好地改善了控制输入量的抖振现象,为全向移动机器人在实际轨迹跟踪控制中的运用奠定了理论基础.