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为解决轮式移动机器人的滑移补偿控制问题,首先推导出车体侧滑角的表达式,然后将时变侧滑角的重建问题转化为对地面特性参数的辨识问题.利用Luenberger观测器设计出自适应辨识律,并证明了当控制输入满足持续激励条件时,可以准确辨识出地面特性参数.基于链式系统模型设计出滑移补偿控制器,在滑移角精确已知的条件下,可以保证位置误差收敛,姿态误差有界.仿真结果表明,基于所设计的自适应辨识律,可以准确地重建出滑移角,提高滑移控制精度.
In order to solve the sliding compensation control problem of wheeled mobile robot, the expression of vehicle body side slip angle is deduced firstly, and then the reconstruction of time-varying side slip angle is converted into the identification problem of the ground characteristic parameters. The Luenberger observer design And it is proved that the ground characteristic parameters can be accurately identified when the control input satisfies the continuous excitation condition.The slip compensation controller is designed based on the chained system model and can be used under the condition that the slip angle is precisely known The position error is guaranteed and the attitude error is bounded.The simulation results show that based on the designed adaptive identification law, the slip angle can be reconstructed accurately and the accuracy of the slip control can be improved.