蛇形机器人跟踪误差预测的自适应轨迹跟踪控制器

为了满足蛇形机器人轨迹跟踪运动的精度需要,消除外界干扰对机器人跟踪误差的影响,提出了一种蛇形机器人跟踪误差预测的自适应轨迹跟踪控制器.所提出的控制器实现了机器人干扰变量、摩擦系数和控制参数的预测,并用预测值和虚拟控制函数来补偿系统的控制输入,抵消了蛇形机器人在轨迹跟踪过程中的侧滑角,避免了干扰变量对机器人带来的负面影响...

Adaptive trajectory tracking controller for snake robot tracking error prediction

In order to meet the accuracy requirement of the trajectory tracking motion of snake robot and eliminate the influence of theexternal disturbance on the tracking error of the robot, an adaptive trajectory tracking controller for snake robot tracking error predictionis proposed. The proposed controller achieves the prediction of the disturbance variables, friction coefficient and control parameters of therobot, and compensates the control input of the system with the predicted value and virtual control function. The sideslip angle of thesnake robot in the trajectory tracking is conteracted, and the negative influence of the interference variables on the robot is avoided. Theerror stability and control accuracy of the trajectory tracking are improved. After the snake robot model is established, the line-of-sightmethod is improved using the integral sideslip angle compensation term. The adaptive trajectory tracking controller of snake robot isdesigned. The position error of the robot converges within 10 s, the angle error is less than 0. 03 rad, and the predicted value errorconverges within 5 s. Through simulation experiments, the effectiveness and superiority of the proposed controller are verified.