轮式移动机器人滑移量重建与滑移补偿控制-控制与决策.PDF

绗?5 鍗 绗? 鏈 鎺 鍒 涓 鍐 绛 2010 骞 5 鏈 Vol. 25 No. 5 Control and Decision May 2010 鏂囩珷缂栧彿: 1001-0920 (2010) 05-0701-05 杞紡绉诲姩鏈哄櫒浜烘粦绉婚噺閲嶅缓涓庢粦绉昏ˉ鍋挎帶鍒 鏂 娴? 绐︿附鍗? 闄 鏉 (鍖椾含鐞嗗伐澶у鑷姩鍖栧闄紝鍖椾含100081) 鎽 瑕侊細锛氾細涓鸿В鍐宠疆寮忕Щ鍔ㄦ満鍣ㄤ汉鐨勬粦绉昏ˉ鍋挎帶鍒堕棶棰? 棣栧厛鎺ㄥ鍑鸿溅浣撲晶婊戣鐨勮〃杈惧紡, 鐒跺悗灏嗘椂鍙樹晶婊戣鐨勯噸寤 闂杞寲涓哄鍦伴潰鐗规€у弬鏁扮殑杈ㄨ瘑闂. 鍒╃敤Luenberger 瑙傛祴鍣ㄨ璁″嚭鑷€傚簲杈ㄨ瘑寰? 骞惰瘉鏄庝簡褰撴帶鍒惰緭鍏ユ弧瓒虫寔 缁縺鍔辨潯浠舵椂, 鍙互鍑嗙‘杈ㄨ瘑鍑哄湴闈㈢壒鎬у弬鏁? 鍩轰簬閾惧紡绯荤粺妯″瀷璁捐鍑烘粦绉昏ˉ鍋挎帶鍒跺櫒, 鍦ㄦ粦绉昏绮剧‘宸茬煡鐨勬潯 浠朵笅, 鍙互淇濊瘉浣嶇疆璇樊鏀舵暃, 濮挎€佽宸湁鐣? 浠跨湡缁撴灉琛ㄦ槑, 鍩轰簬鎵€璁捐鐨勮嚜閫傚簲杈ㄨ瘑寰? 鍙互鍑嗙‘鍦伴噸寤哄嚭婊戠Щ 瑙? 鎻愰珮婊戠Щ鎺у埗绮惧害. 鍏抽敭璇嶏細锛氾細绉诲姩鏈哄櫒浜猴紱瑙傛祴鍣紱婊戠Щ琛ュ伩鎺у埗 涓浘鍒嗙被鍙凤細锛氾細TP242 鏂囩尞鏍囪瘑鐮侊細锛氾細A Sliding reconstruction and anti-sliding control of wheeled mobile robots FANG Hao, DOU Li-hua, CHEN Jie (School of Automation锛孊eijing Institute of Technology 锛孊eijing 100081 锛孋hina. Correspondent: FANG Hao锛孍-mail: fangh@bit.edu.cn) Abstract 锛氾細锛歍he problem of anti-sliding control of wheeled mobile robot is presented. Firstly, lateral vehicle dynamics and acceleration equations are considered to obtain an equation describing the relationship between the sideslip angle and the cornering stiffness. Then linear Luenberger observer is used to obtain adaptive learning laws for the cornering stiffness, which leads to the convergence of the estimated cornering stiffness to its real value when the persistent excitation condition is satis铿乪d. Therefore, the unknown sideslip angles can be reconstructed precisely. With the results of the sliding-angle reconstruction, a path-following controller with sliding compensation is designed based on the chained system theory. Finally simulation results show that the proposed adaptive learning laws can guarantee the pr