轮式机器人轨迹跟踪控制系统的设计

摘要

针对轮式机器人轨迹跟踪控制系统误差收敛速率低、精度和实时性差的问题,采用反演控制算法并结合李雅普诺夫稳定性分析方法对轮式机器人的轨迹跟踪系统进行了优化设计;建立了轮式机器人轨迹跟踪控制系统的运动学模型,并对该模型进行位置偏差分析;在反演控制算法中引入了分部虚拟控制量,并分析和设计了其他间接受控量,提高了算法运行的效率;采用李雅普诺夫收敛定理对系统的收敛性进行分析,根据分析的结果提出了算法更加简单的控制律;利用Matlab软件的Simulink库对设计的轨迹跟踪控制系统试验研究;结果表明,与基于李雅普诺夫直接法或者迭代学习算法设计的轮式机器人轨迹跟踪控制系统相比较,设计的控制系统具有跟踪精度高、收敛速度快、实时性好的优点.%Aim at the shortages of slow error convergence speed,low accuracy,and poor real-time ability of trajectory tracking control system for wheeled robots,a novel control system is proposed based on Backsteping control algorithm and Lyapunov stability analysis method.In order to study the position deviation of the wheeled robots,the kinematic model is designed.In addition,the Backstepping control algorithm employ a new control strategy for segment virtual control to study and design other indirectly controlled parameters,which greatly improves the efficiency of the algorithm.The Lyapunov law is adopted to analyze the convergence of the system,and in the light of the results of stability analysis to propose a new and simple control law.Finally,Matlab/Simulink is employed to test trajectory tracking control system.The results show that the new control strategy proposed in this paper has higher accuracy,faster convergence speed and better real-time performance than the control strategy based on direct Lyapunov algorithm or iterative learning algorithm.