轮式移动机器人路径跟踪控制的研究.pdf

摘要轮式差速移动机器人是一种典型的非线性、非完整系统。近年来,因其广泛的应用前景,有关移动机器人的各种研究层出不穷,本文主要研究移动机器人路径跟踪控制问题。首先建立了重心位置任意的移动机器人模型,与之前研究中使用的模型相比,更符合实际情况。在己知重心位置的情况下,利用非线性控制方法设计路径跟踪控制律,进行仿真和实验研究,证明了该算法的有效性。考虑重心位置难以精确预测且会随负载变动的实际情况,采用不依赖模型的模糊控制方法设计控制器。引入临时路径极大简化了模糊控制器的设计,加入积分环节提高控制器的稳态精度,并进行仿真和实验研究,结果表明该算法简洁有效。考虑模糊控制规则库的建立依赖一定的主观因素,提出自适应模糊路径跟踪控制方法,此方法用模糊逻辑系统逼近控制器中的不确定函数,并就逼近误差界已知和未知两种情况,分别设计鲁棒控制项对逼近误差进行补偿,对未知参数设计了自适应调节律,基于Lyapunov理论证明了此算法可使闭环系统稳定,且使跟踪误差收敛到原点。仿真结果验证了此方法的有效性。最后对上文采用的三种控制方法进行对比,分析结果,并对下一步的研究提出改进措施。关键词:轮式差速移动机器人;非完整;路径跟踪;模糊控制;临时路径;自适应模糊控制 ABSTRACT Wheeled differential—drive mobile robots are typical nonlinear nonholonomic ,more and more researches about wheeled mobile robots have been presented thanks totheirpotential thesismainly focuses on thepath tracking methods forwheeled differential—drivemobi lerobots. Firstly,a model ofwheeled differential—drivemobile robots with random center ofgravity pared toprevious models forresearch,this model ismore method based on nonlinear control isdesigned inthe case of aknown center method isproved tobeeffective by simulation and experimental results. Secondly,considering theactual situation thatthe center ofgravity isdifficult to accurately predict and may change with the load,a fuzzy control method which doesn’trely on models introduction oftemporary path remarkably simplifies thedesign integration section isadded intothecontroller to eliminate the steady·state and experimental results prove effectiveness and simpl ificationof thismethod. Thirdly,a fuzzy adaptive control method isintroduced intothepath tracking control because therules offuzzy control are builtsubjectively The uncertainty function ofthecontroller isapproached by thefuzzy robustcontrol terms are designed pensate forapproximation error respectively according to thesituations thattheapproximation errorbound isknown ornot,and adaptive laws are designe