【摘要】 针对球形机器人动力学模型不准确、参数不确定的问题,设计了一种基于李雅普诺夫(Lyapunov)方法的模型参考自适应控制(MRAC)算法。首先,搭建了基于全向轮驱动的球形机器人实验平台,并利用拉格朗日方程进行动力学建模。然后,为解决球形机器人运动过程中参数易受干扰的问题,采用MRAC进行运动控制,其中自适应控制率利用李雅普诺夫方法进行设计。最后,通过在线仿真和实测实验,结果表明MRAC具有良好的控制效果,在运动参数受到干扰时仍有较好的控制能力。更多还原

【Abstract】 Aiming at the problem of an inaccurate dynamic model of the spherical robot and uncertain parameters, a model reference adaptive control(MRAC) algorithm based on the Lyapunov method is designed. First, a spherical robot experimental platform based on an omnidirectional wheel drive is built, and the Lagrangian equation is used for dynamic modeling. Then, to solve the problem that the parameters of the spherical robot are easily disturbed during the movement of the spherical robot, MRAC is used for motion control, and the adaptive control rate is designed by using the Lyapunov method. Finally, online simulation and actual measurement experiments results show that MRAC has a good control effect and still has good control ability when the motion parameters are disturbed.更多还原