摘要
针对采摘机器人在中速、高载荷及复杂作业环境下行走控制存在的问题,在分析采摘机器人简化动力模型及其剩余项(不稳定性)在行走控制中的作用和对控制系统影响的基础上,运用李亚普洛夫理论分析简化系统的跟踪误差,提出对野外农田不确定性和扰动具有自适应鲁棒性的稳定跟踪控制算法,计算机仿真和田间实验验证了机器人在中速和高负载下算法的有效性。
Aimed at medium - speed, high - load and complexity of operating environment to control the area of picking wheeled mobile robot, based on analyzing the function and impact on walking control of simplified dynamic model and it＇s remaining unstable items and accounting the tracking error of simplified dynamic model system by Lyapunov theory, a robust and reliable tracking adaptive control algorithm is proposed according to analyzing this instability on the application of farmland. Accordingly, farmland experiments and computer simulation both have verified the efficiency and robustness of the algorithm on the condition of medium - speed, high - load.
出处
《农机化研究》
北大核心
2009年第12期10-14,42,共6页
Journal of Agricultural Mechanization Research
基金
国家星火计划项目(2005EA850034)
