【摘要】 针对轮式移动机器人在实际工作中不可避免地受到环境因素影响的问题,采用Sage-Husa自适应卡尔曼滤波对带有白噪声的参考轨迹进行估计,以提高测量信息的真实性;同时在速度控制的基础上,考虑机器人动力学模型及其外界干扰,利用滑模控制思想设计出具有渐近收敛性的力矩反馈控制规律来跟踪滤波后的估计值.仿真结果表明,该控制方法能有效抑制测量噪声和外界干扰的影响,快速跟踪任意参考轨迹.更多还原

【Abstract】 Wheeled mobile robot is in?uenced inevitably by environment factors.Therefore,Sage-Husa adaptive Kalman filtering(AKF) is adopted to estimate the reference trajectory with white noise to improve the reality of measurement information.Meanwhile,by considering the dynamic model of robot and external disturbances,sliding mode is used to design a torque controller with asymptotic convergence for tracking the estimated value based on the velocity control.The simulation results show that the proposed control law can overcome measurement noise and external disturbances effectively and track any reference trajectories quickly.更多还原