摘要
针对轮式移动机器人轨迹跟踪这一典型控制任务,提出了基于模糊控制规则的滑模控制方法。该方法采用等速趋近律,利用连续函数代替符号函数获得切换控制律,最后运用Lyapunov理论证明系统的稳定性。仿真结果表明该方法不但能够有效的跟踪机器人的参考轨迹,还能有效的减少在控制中的抖振现象。即使存在外界干扰的情况下,也具有良好的控制品质。
In view of the typical control task of trajectory tracking of wheeled mobile robot, this paper proposes a fuzzy control rules- based sliding mode control method, which obtains the switching control law by using constant reaching law and adopting continuous function to take the place of sign function, finally, it proves the stability of the system by Lyapunov theory. The simulation results show that the method not only can track reference trajectory of robots effectively, but also reduce the chattering phenomena in the control. E- ven in the situation of interference, it has good control quality.
出处
《长春大学学报》
2014年第2期146-149,共4页
Journal of Changchun University
关键词
轮式式移动机器人
轨迹跟踪
模糊滑模控制
wheeled mobile robot
trajectory tracking ： fuzzy sliding mode control
