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基于无模型自抗扰控制的全方位移动机器人轨迹追踪研究
Trajectory Tracking Research of Omnidirectional Mobile Robot Based on Model-free Active Disturbance Rejection Control
【作者】 王剑；
【作者基本信息】 天津大学 ， 控制工程， 2019， 硕士
【摘要】 随着科技创新的日益发展,人类社会不断进步。机器人也成为了人们生活中的一部分,移动机器人开始从事越来越多的枯燥、乏味、具有危险性的工作。如无人餐厅、医院、工厂以及太空等一些人类无法正常工作的环境。本文针对全方位移动机器人越来越难以精确测量的电机参数问题、越来越难以精确建立的数学模型问题以及一些未知的内、外部扰动问题。本文采用自适应滑模控制、自抗扰控制、无模型自适应等控制方法,主要研究内容如下:首先,本文根据全方位移动机器人的结构特点,推导出了其运动学模型与动力学模型,并分析了其动力学特性,为控制算法设计和仿真研究奠定了基础。然后,针对全方位移动机器人电机参数未知以及一些未知的内、外部扰动问题,本文设计了一种电机参数未知的全方位移动机器人轨迹追踪控制系统。首先,对全方位移动机器人中未知的电机参数进行参数估计,其次设计了滑模扩张状态观测器来补偿内、外部扰动,之后设计了相关的自适应滑模控制器进行轨迹追踪控制。随后证明了观测器误差是有界的,并利用李雅普诺夫方法证明了该控制系统是渐进稳定的,仿真和实验结果验证了该控制系统有较强的鲁棒性和实用性。最后,为了解决现有的控制算法对机器人数学模型依赖以及一些未知的内、外部扰动问题,本文设计了一种基于全方位移动机器人的无模型自抗扰控制。首先,在仅利用在线输入输出数据的情况下,对机器人模型中的惯性矩阵进行估计,其次设计了线性扩张状态观测器来观测并补偿机器人系统中一些未知的内、外部扰动,之后设计了相关的无模型自抗扰控制器进行轨迹追踪控制。利用输入到状态稳定方法证明控制系统是全局输入到状态稳定的,仿真和实验结果验证了该控制系统的可靠性和有效性。
【Abstract】 With the continuous advancement of human society and the increasing development of technological innovation,robots are beginning to engage in more and more boring,tedious and dangerous work.Omnidirectional mobile robots also appear frequently in people’s lives,such as unmanned restaurants,hospitals,factories,and space,etc.,where some humans cannot work properly.This paper addresses the problem of motor parameters that are increasingly difficult to accurately measure for omnidirectional mobile robots,as well as mathematical model problems that are increasingly difficult to accurately establish and some unknown internal and external disturbance problems.In this paper,adaptive sliding mode control,active disturbance rejection control,model-free adaptive control methods are used.The main research contents are as follows:Firstly,based on the structural characteristics of omnidirectional mobile robots,the kinematics model and dynamics model are derived,and its dynamic characteristics are analyzed,which lays a foundation for control algorithm design and simulation research.Then,aiming at the unknown motor parameters of omnidirectional mobile robots and some unknown internal and external disturbances,this paper designs an omnidirectional mobile robot trajectory tracking control system with unknown motor parameters.Firstly,the parameters of the unknown motor parameters in the omnidirectional mobile robot are estimated.Secondly,the sliding extended state observer is designed to compensate the internal and external disturbances.Then the relevant adaptive sliding mode controller is designed for trajectory tracking control.Then the observer error is proved to be bounded,and the Lyapunov method is used to prove that the control system is Asymptotic stable.The simulation and experimental results verify that the control system has strong robustness and practicability.Finally,in order to solve the dependence of the existing control algorithm on the mathematical model of the robot and some unknown internal and external disturbances,this paper designs a model-free active disturbance rejection control based on omnidirectional mobile robot.Firstly,the inertia matrix in the robot model is estimated only by using the input and output data online.Secondly,the linear extended state observer is designed to observe and compensate some unknown internal and external disturbances in the robot system.After that,the related model-free active disturbance rejection controller is designed for trajectory tracking control.The input-state stabilization method is used to prove that the control system is global input-state stable.The simulation and experimental results verify the effectiveness of the control system.