【摘要】 针对轮式移动机器人的输出控制问题,提出了一种利用动态滑模控制解决输出控制的方法。首先给出机器人的动力学简化模型,然后求出其输出控制的动态滑模控制器。在仿真试验中,根据机器人的运动路径,可由动态滑模控制器得出机器人相应的电机输出力矩,并控制其沿预定路径运动。更多还原

【Abstract】 The dynamical sliding mode control was applied on the output control of wheeled mobile robots made for Robocon.When a suitable based for null space of the constraint matrix is selected,kinds of uncertainties or disturbances will obey the “matching conditions” and the I/O linearization can be realized by an appropriate output function.Finally,the output of motors’ moments for certain expecting track of robots can be calculated and applied on the motion of robots.更多还原