| 轮式移动机器人滑移量重建与滑移补偿控制 |
| |
| 引用本文： | 方浩,窦丽华,陈杰.轮式移动机器人滑移量重建与滑移补偿控制[J].控制与决策,2010,25(5):701-705. |
| |
| 作者姓名： | 方浩 窦丽华 陈杰 |
| |
| 作者单位： | 北京理工大学自动化学院,北京,100081 |
| |
| 基金项目： | 国家自然科学基金项目(60805035/F0306) |
| |
| 摘 要： | 为解决轮式移动机器人的滑移补偿控制问题,首先推导出车体侧滑角的表达式,然后将时变侧滑角的重建问题转化为对地面特性参数的辨识问题.利用Luenberger观测器设计出自适应辨识律,并证明了当控制输入满足持续激励条件时,可以准确辨识出地面特性参数.基于链式系统模型设计出滑移补偿控制器,在滑移角精确已知的条件下,可以保证位置误差收敛,姿态误差有界.仿真结果表明,基于所设计的自适应辨识律,可以准确地重建出滑移角,提高滑移控制精度.
|
| 关 键 词： | 移动机器人 观测器 滑移补偿控制 |
| 收稿时间： | 2009/5/31 0:00:00 |
| 修稿时间： | 2009/8/30 0:00:00 |
Sliding reconstruction and anti-sliding control of wheeled mobile robots |
| |
| FANG Gao,DOU Li-Hu,CHEN Jie.Sliding reconstruction and anti-sliding control of wheeled mobile robots[J].Control and Decision,2010,25(5):701-705. |
| |
| Authors: | FANG Gao DOU Li-Hu CHEN Jie |
| |
| Abstract: | The problem of anti-sliding control of wheeled mobile robot is presented.Firstly,lateral vehicle dynamics and acceleration equations are considered to obtain an equation describing the relationship between the sideslip angle and the cornering stiffness.Then linear Luenberger observer is used to obtain adaptive learning laws for the cornering stiffness, which leads to the convergence of the estimated cornering stiffness to its real value when the persistent excitation condition is satisfied.Therefore,the unk... |
| |
| Keywords: | Mobile robots Luenberger observer Anti-sliding control |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
| 点击此处可从《控制与决策》浏览原始摘要信息 |
|
点击此处可从《控制与决策》下载全文 |
|
