基于差异平面和滑动活性干扰排斥控制的轮式移动机器人的强大的跟踪控制:模拟和实验
Amine Abadi1, Amani Ayeb2, Moussa Labbadi3
1Laboratory ImViA EA 7535, University of Bourgogne, 21000 Dijon, France.
Sensors (Basel, Switzerland)
|May 11, 2024
概括
这项研究引入了一个强大的跟踪控制轮式移动机器人 (WMRs) 面对风和滑动. 通过将滑动模式控制 (SMC) 与主动干扰排斥控制 (ADRC) 结合起来,它可以提高稳定性和跟踪精度.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统工程 控制系统工程
- 机械电子学是什么意思 机械电子学
背景情况:
- 轮式移动机器人 (WMR) 在保持稳定的跟踪方面面临重大挑战,原因是外部干扰,如风和内部不确定性,如轮滑.
- 传统的控制方法,包括滑动模式控制 (SMC),在处理复杂的,未建模的动态时,往往会遭受喋喋不休和降低稳定性.
研究的目的:
- 制定一个强大的追踪控制策略,有效地减轻风力干扰和车轮滑动的影响.
- 在不确定的环境中增强低功率的WMR的稳定性和跟踪性能.
主要方法:
- 使用差异平面度方法,将非线性WMR模型转换为线性规范形式.
- 建议采用混合控制方法,将边界层滑动模式控制 (SMC) 与主动干扰排斥控制 (ADRC) 整合起来.
- 在ADRC内部使用扩展状态观察员来估计和补偿一次性不确定性.
主要成果:
- 拟议的综合控制方法证明有效地抑制了聊天,同时保持了强大的跟踪性能.
- 与现有方法相比,模拟和实验结果验证了拟议的控制器的优越效率.
- 利亚普诺夫理论被用来确定闭环系统的稳定性.
结论:
- 综合的SMC-ADRC方法为WMR跟踪控制提供了一个实用和强大的解决方案,在显著的不确定性下.
- 这种方法显著提高了WMR在充满挑战的动态环境中执行准确跟踪任务的能力.
- 将ADRC与边界层SMC集成,可以提高干扰排斥和控制精度.
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