轮式移动机器人嵌入式自适应控制器设计与仿真

摘要

在增加一阶输出信息基础上,改写了控制律算法准则函数,使用变分原理得出紧格式的改进无模型自适应控制(eMFAC)方程.以差动驱动移动机器人为研究对象,将非完整约束及传动系统误差作为外部干扰设计了具有前馈功能的Kalman改进无模型自适应控制(MFAC)运动控制器,证明了新控制方法的全局稳定性.FreeMAT仿真及ARM7系统控制实验证实了本方法的有效性.%On the basis of variational principle, we derive the compact form of the enhanced model-free adaptive control method (Emfac) and modify the control criterion function by adding the first order output signal. In designing the feedforward Kalman MFAC controller for a differential driving wheeled mobile robot, the nonholonomic constraint and the transmission error from motors to wheels in the driving transmission system are fed forward to the system for controlling the orientation angle and the motion velocity of the mobile robot. The global stability of the proposed control method is verified. Simulations are performed with the open-source freeware FreeMAT V4.0. Practical experiments are carried out on the ARM7 system. Results validate the effectiveness of the proposed method.