导　　师： 李树荣

学科专业： 081102

授予学位： 硕士

作　　者： ;

机构地区： 中国石油大学华东

摘　　要： 本论文研究了非完整移动机器人的轨迹跟踪控制问题,特别是当系统存在不确定性时的鲁棒轨迹跟踪控制。本文的主要研究内容如下: 针对非完整移动机器人的运动学模型,为轨迹跟踪控制设计反馈速度控制律:建立了局部坐标系下用直角坐标表示的位姿误差模型,然后应用控制Lyapunov函数方法为轨迹跟踪误差系统设计了非线性状态反馈控制律,使闭环系统在原点是一致渐近稳定的,从而保证了轨迹的渐近跟踪。之后的控制律设计都是以此方法为基础的。 基于非完整移动机器人的动态模型进行轨迹跟踪控制律设计,获得动力学系统的实际力矩控制输入:采用控制Lyapunov函数和反步设计的思想,首先,由控制Lyapunov函数设计出可以保证轨迹跟踪误差渐近稳定的辅助速度控制,然后设计反馈加速度控制律使移动机器人的实际速度收敛到所设计的辅助控制速度,最后计算力矩获得实际的控制信号。 针对具有未知外部扰动和惯性参数不确定性的动力学系统的轨迹跟踪问题,设计了鲁棒自适应控制器,要求不确定性和外部扰动有界;该方法可以克服不确定性带来的影响,提高控制系统的鲁棒性。 在移动机器人动态模型的基础上进一步考虑了驱动模型的影响,设计以电机电压为控制输入的轨迹跟踪控制律:针对系统模型具有不确定惯性参数和结构参数的情况,设计了自适应控制律,保证了存在不确定性时轨迹跟踪的实现。 对本文所设计的控制方案都进行了仿真研究,仿真结果也验证了控制律的有效性。 In this thesis, the trajectory tracking control for a class of nonholonomic mobile robots is studied. The emphasis is the robust trajectory tracking control for mobile robots with uncertainties. The main works of this thesis are listed as follows. Based on the kinematic model of a nonholonomic mobile robot, a feedback velocity control law is designed for trajectory tracking. First, the posture error model of trajectory tracking is established denoted by Cartesian coordinates in the local coordinates. Then the nonlinear state feedback control law is designed for the tracking error system using a control Lyapunov function. Under the proposed control law, the closed-loop system is uniformly asymptotically stable at origin, and asymptotic tracking for the desired trajectory is guaranteed. The following works are all based on the proposed kinematic controller. Based on the dynamic model of the nonholonomic mobile robot, a torque controller is designed, from which the actual control input of the dynamic system can be obtained. The designing of the controller is based on the backstepping technique. Firstly, an auxiliary velocity control signal is designed, which can make the tracking error asymptotically stable. Then to guarantee the actual velocity converge to the auxiliary control signal, an acceleration control law is designed. The actual control signal is obtained at last by the computed torque controller. The problem of trajectory tracking control for dynamic system with unknown external disturbances and inertia parametric uncertainties is studied, with the prerequisite that the external disturbances are bounded. A robust adaptive controller is designed, under which the influence caused by uncertainties can be overcome, and the robustness of the system can be improved. On the basis of the dynamic model, the drive motor dynamics is taken into account further in the control design. In this case, the control input of the system is the voltage of the motor. The trajectory tracking control for mobile robot system with uncertain inertia parameters and uncertain structure parameters is studied. An adaptive controller is proposed for this case to ensure robustness to the uncertainty of model parameters. The effectiveness of every designed controller is verified by the simulation results of actual models.

关 键 词： 非完整系统 轨迹跟踪 模型不确定性 鲁棒自适应 移动机器人

分 类 号： [TP242]

领　　域： [自动化与计算机技术] [自动化与计算机技术]