模块化移动机器人的无模型自适应控制研究

为研究无模型自适应(MFA)控制算法在机器人控制领域的应用,设计了差动驱动的模块化移动机器人。在考虑非完整约束、MIMO、饱和约束等特点基础上,建立了以差动驱动电机脉宽调制(PWM)信号为输入、以机器人方位角和线速度为输出的无模型自适应控制系统;为提高运算速度并减少运算量,使用最小二乘原理设计了新的伪偏导数和控制律在线估计算法。仿真结果表明,该方法具有鲁棒性强、响应速度快及控制精度高的特点,其性能优于传统的PID控制。

Study on control method of modular mobile robot based on MFA theory

For the study of model-free adaptive（MFA） control algorithm applied in the field of robot control,a modular differential-driven mobile robot was designed.Taking such factors as nonholonomic constraint,MIMO,capacity constraints and other characteristics into consideration,the model-free adaptive control system was established accordingly.The pulse width modulation（PWM） signals were used as inputs,the robot＇s azimuth and velocity were used as outputs.To improve processing speed and reduce the computation,the least squares principle was used to design a new pseudo-partial derivative and the control law online estimation algorithm.The simulation results show that the method has strong robustness,fast response,high accuracy and control features,its performance better than traditional PID control.