基于节能考虑的全向移动机器人鲁棒补偿轨迹跟踪控制
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沈阳工业大学

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TP273

基金项目:

国家自然科学基金青年项目(61803273),辽宁省教育厅服务地方项目(LFGD2020004)


Robust compensation trajectory tracking control for omnidirectional mobile robot based on energy saving
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Shenyang University Of Technology

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    摘要:

    针对全向移动机器人在跟踪目标的过程中存在的跟踪误差及产生的能量损耗问题,本文首先构建一种新型机器人能耗模型,该模型能够有效预测机器人运行过程中各种能量消耗.然后基于该能耗模型设置兼顾轨迹跟踪误差与能耗最小的性能指标函数,在其约束下,提出一种基于干扰鲁棒补偿的反馈节能控制器.另外,引入不确定性及干扰估计观测法,构建鲁棒补偿项,在满足能耗最优的前提下实现对外界干扰的有效抑制.最后基于Lyapunov稳定性理论证明本文所提出的节能干扰鲁棒补偿控制系统是渐近稳定的.仿真结果表明,通过将该控制器与比例微分控制器及一般节能补偿控制进行比较,所提出的控制方法控制精度更高,能量损耗更低,具有更强的鲁棒性.

    Abstract:

    Aiming at the tracking error and energy loss of omnidirectional mobile robot in the process of tracking the target, this paper first constructs a new robot energy consumption model, which can effectively predict all kinds of energy consumption in the process of robot operation.Then, based on the energy consumption model, a performance index function is set up, which takes into account the trajectory tracking error and the minimum energy consumption.Under its constraints, a feedback energy-saving controller based on disturbance robust compensation is proposed.In addition, the uncertainty and disturbance estimation observation method are introduced to construct the robust compensation term, and the external disturbance is effectively suppressed under the premise of satisfying the optimal energy consumption.Finally, based on Lyapunov stability theory, the proposed energy-saving disturbance robust compensation control system is proved to be asymptotically stable.The simulation results show that the proposed control method has higher control accuracy, lower energy loss and stronger robustness compared with the proportional differential controller and the general energy-saving compensation control.

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历史
  • 收稿日期:2021-04-23
  • 最后修改日期:2021-08-28
  • 录用日期:2021-09-10
  • 在线发布日期: 2021-10-01
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