摘要
针对移动机器人轨迹跟踪过程中存在的诸多不确定性,利用Backstepping的思想和Lyapunov方法设计了H∞滑模控制。通过自适应模糊控制来优化滑模控制器的开关增益,从而消除滑模控制中存在的抖振现象。最后分别进行了直线、圆周、正弦三种轨迹跟踪仿真J_1实验,验证了系统的全局渐进稳定性和抗干扰性。证明了该控制算法的有效性。
Aiming at the uncertainties of the mobile robot trajectory tracking processes, an H∞ sliding mode controller was de-signed by utilizing the ideas of Backstepping and Lyapunov method. The switch gain of the sliding mode controller was optimized by adaptive fuzzy control to eliminate the chattering in sliding mode control. Finally, three trajectory tracking simulation experiments con-sisting of straight, circular and sinusoidal trajectories were carried out to verify the global asymptotic stability and anti-interference per-formance of the system, respectively. And the results demonstrate the effectiveness of the control strategy.
作者
邹左明
刘丛志
ZOU Zuoming LIU Congzhi(Sichuan Institute of Information Technology, Guangyuan Sichuan 628017, China School of Mechanical Engineering, Southwest Jiaotong University, Chengdu Sichuan 610031,China)
出处
《机床与液压》
北大核心
2017年第11期28-31,174,共5页
Machine Tool & Hydraulics
基金
四川省应用基础研究(重大前沿)项目(2015JY0281)
四川省重大科技成果转化专项(2015CC0003)
四川省国际科技合作与交流研究计划项目(2015HH0062)
西南交通大学研究生创新实验实践项目(YC201502109)
关键词
移动机器人
轨迹跟踪
H∞滑模控制
自适应调整
Mobile robot
Trajectory tracking
H∞ sliding mode control
Adaptive tunning
