轮式移动机器人的有限时间自适应轨迹跟踪控制

Adaptive Trajectory Tracking of Wheeled Mobile Robots with Finite-time Convergence

关键词:  有限时间控制  快速非奇异终端滑模  轮式移动机器人

Key words:  finite-time control  fast nonsingular terminal sliding mode  wheeled mobile robot

摘要:

[目的]针对存在外界扰动和参数不确定性的轮式移动机器人,设计一种有限时间轨迹跟踪控制方案。[方法]首先,将轮式移动机器人动态系统分为二阶和三阶的两个子系统;其次,针对二阶子系统设计了自适应快速终端滑模控制律,保证移动机器人角速度跟踪误差有限时间内收敛到一个任意小的区域内;然后,设计了关于线速度的控制律,来保证三阶子系统的有限时间收敛;最后进行仿真实验验证。[结果]仿真实验结果与理论值相符。[结论]本研究设计的有限时间控制策略保证了移动机器人轨迹跟踪的效果。

Abstract:

[Objective] This paper developed a novel finite-time control scheme for trajectory tracking of wheeled mobile robots in the presence of external disturbances and inertia uncertainties.[Methods] Firstly, the error dynamics of mobile robots were divided into a second-order subsystem and a third-order subsystem.Secondly, a novel fast nonsingular terminal sliding mode control law (FNTSMCL) associated with adaptation of the angular velocity was designed for the second-order subsystem to ensure the finite-time convergence of the angle error of mobile robots.Then, a FNTSMCL of forward velocity was synthesized, which guaranteed the finite-time convergence of the third-order subsystem. Finally, the simulation experiment was carried out.[Results] The simulation results were in agreement with the theoretical values.[Conclusion] The finite-time control strategy designed in this study ensures the effect of wheeled mobile robot trajectory tracking.