基于全阶滑模控制的双轮移动机器人跟踪误差研究

针对双轮移动机器人运动轨迹跟踪误差较大的问题,设计了全阶滑模控制器,并对控制输出误差进行仿真验证。建立双轮机器人简图模型,推导出移动机器人动力学方程式。介绍了移动机器人线速度和角速度的控制过程,对传统PI控制器进行改进,设计了全阶滑模控制器。采用李雅普诺夫函数对控制器的稳定性进行了证明,从而得到机器人运动线速度和角速度的输出误差收敛于零。在平面内,采用MATLAB软件对机器人运动线速度和角速度输出误差进行仿真实验,并与PI控制输出误差形成对比。结果显示:采用传统PI控制器,双轮机器人实际输出线速度和角速度误差较大;采用全阶滑模控制器,双轮机器人实际输出线速度和角速度误差较小。采用全阶滑模控制器用于双轮机器人控制系统,自适应抗干扰能力更强,可提高双轮机器人运动轨迹跟踪精度。

Research on Tracking Error of Two Wheeled Mobile Robot Based on Full Order Sliding Mode Control

In view of the large tracking error of the two wheeled mobile robot,a full order sliding mode controller is designed and the control output error is verified by simulation.A sketch model of two wheeled robot is established,and the dynamic equation of mobile robot is derived.This paper introduces the control process of linear speed and angular speed of mobile robot,improves the traditional PI controller,and designs a full order sliding mode controller.The stability of the controller is proved by using Lyapunov function,and the output error of linear velocity and angular velocity converges to zero.In the plane,MATLAB software is used to simulate the output errors of linear velocity and angular velocity of the robot,and the results are compared with those of PI control.The results show that the error of the actual output linear velocity and angular velocity of the two wheeled robot is larger with the traditional PI controller,while the error of the actual output linear velocity and angular velocity of the two wheeled robot is smaller with the full order sliding mode controller.The full order sliding mode controller is used in the control system of the two wheeled robot,which has stronger adaptive anti-interference ability and can improve the tracking accuracy of the two wheeled robot.