基于滑模控制的室内移动机器人路径跟踪

Path Tracking of Indoor Mobile Robot Based on Sliding Mode Control

摘要:

由于轮式移动机器人的运动受限性质,其轨迹跟踪成为控制领域的研究热点;Pioneer3-AT是一个高度灵活的差分驱动的机器人,具有良好的通用性和可靠性,特别适合于移动机器人学术研究;为解决一种可以在室内环境下执行任务的移动机器人的路径跟踪问题,以Pioneer3—AT移动机器人平台为原型机建立了移动机器人的数学模型;滑模变结构控制对被控系统的不确定性、外界扰动及参数摄动具有完全鲁棒性,利用特殊幂次函数构造一种新型滑模控制趋近律,采用该趋近律设计滑模控制律,进而提出一种新的滑模控制方法,利用李雅普诺夫定理证明了该方法的稳定性;采用所设计的滑模控制器对室内移动机器人进行路径跟踪实验,仿真结果验证了该方法的有效性。

Abstract:

Due to the restricted mobility, the trajectory tracking of wheeled mobile robot, has been a research focus in the field of control. The Pioneer3-AT is highly versatile differential-drive robotic platform for academic researchers,which has the most famous advantages of good versatility and reliability.To solve the path tracking problem of the indoor mobile robot which can perform particular tasks, the mathematical model of the mobile robot is established. based on Pioneer3—AT. Sliding mode variable structure control for the uncertainty, external disturbance and parameter perturbation of the controlled system has completely robustness, and a new sliding mode reaching law with special exponential function is constructed. The reaching law is adopted to design the sliding mode control law, and put forward a new method of sliding mode control is proposed, and the method stability.is proved by using lyapunov theorem.The simulation results of the indoor mobile robot path tracking experiment on the sliding mode controller demonstrate the effectiveness of the proposed method.