摘要
针对有输入饱和约束的轮式移动机器人(WMR)的轨迹跟踪问题,提出一种抗饱和无模型自适应积分终端滑模控制方案.该方案基于紧格式动态线性化技术,构建WMR系统的在线数据驱动模型.在积分终端滑模控制器设计过程中,引入动态抗饱和补偿器,以解决WMR系统轨迹跟踪过程中执行器饱和问题.控制器设计仅利用控制系统的输入输出数据,与WMR系统模型信息无关.因此,针对不同类型的WMR系统,该方案均可实现.最后,通过仿真实验将所提出的方法与PID方法的控制效果进行对比,仿真结果表明,所提出的控制算法的跟踪误差更小且响应速度更快.
An anti-windup model-free adaptive integral-terminal-sliding-mode control scheme is proposed for the tracking problem of wheeled mobile robot(WMR) with input saturation constraint. The scheme builds an online data-driven model of WMR system based on the compact-format dynamic linearization technology. In the design procedure of the integralterminal-sliding-mode controller, the dynamic anti-windup compensator is introduced to solve the actuator saturation problem in the WMR system trajectory tracking process. The design of the proposed control scheme only depends on the input data and output data of the controlled system, and it does not involve any model information of the WMR.Therefore, this scheme can be implemented for different types of WMR systems. Finally, a simulation comparison among the proposed scheme and proportion integration differentiation(PID) control algorithm is given. The results show that the proposed algorithm has smaller tracking errors and more rapid responses than the PID control scheme.
作者
侯明冬
王印松
HOU Ming-dong;WANG Yin-song(School of Control and Computer Engineering,North China Electric Power University,Baoding 071003,China;Department of Electrics and Automation,Shandong Labor Vocational and Technical College,Jinan 250100,China)
出处
《控制与决策》
EI
CSCD
北大核心
2020年第6期1353-1360,共8页
Control and Decision
基金
国家自然科学基金项目(61533013).
关键词
轮式移动机器人
数据驱动
滑模控制
抗饱和
动态线性化
轨迹跟踪
wheeled mobile robot
data-driven
sliding mode control
anti-windup
dynamic linearization
trajectory tracking
