基于无源控制的非完整移动机器人轨迹跟踪误差仿真研究

摘要

当前,非完整移动机器人在外界干扰作用下容易发生抖动现象,机器人轨迹跟踪误差较大,不能很好的满足执行任务的需要.对此,文章采用无源控制理论控制非完整移动机器人的轨迹跟踪,实现轨迹跟踪误差最小化.构造机器人动力学模型,介绍了机器人空间运动控制的基本形式,引入无源控制理论,在非完整移动机器人末端安装无源控制的执行器.采用数学方法证明了无源控制闭环系统具有很好的稳定性,并且轨迹跟踪误差具有收敛性.结合具体实例,非完整移动机器人末端执行器在无源控制条件下,通过数学软件Matlab/Simulink进行轨迹跟踪误差仿真,并且与其它轨迹跟踪误差控制方法进行对比分析.误差仿真结果证明,非完整移动机器人末端执行器采用无源控制方法,不仅轨迹跟踪误差降低,而且输入转矩波动程度较小.非完整机器人末端执行器采用无源控制方法,具有良好的控制精度,削弱了抖动现象.%At present,it is easy to shake off the phenomenon of non complete mobile robot in the external disturbance,the robot trajectory tracking error is larger,can not be very good to meet the needs of the implementation of the task.In this paper,passive control theory is used to control the trajectory tracking of nonholonomic mobile robots,and the tracking error is minimized.The robot dynamics model is introduced,and the basic form of the space motion control of the robot is introduced.The passive control theory is introduced,and the passive control actuator is installed at the end of the nonholonomic mobile robot.The mathematical method is used to prove that the closed-loop system has good stability,and the trajectory tracking error is convergent.Combined with concrete examples,non holonomic mobile robot is in passive control conditions,by mathematical software Matlab/Simulink trajectory tracking error simulation and with other trajectory tracking error control methods are compared and analyzed.The simulation results show that the passive control method is adopted in the end effector of the nonholonomic mobile robot,which not only reduces the tracking error,but also the input torque is small.Passive control method is adopted in the end effector of the nonholonomic robot, which has good control precision and weakens the chattering phenomenon.