具有H∞性能的轮式移动机器人非线性控制器设计

doi:10.13229/j.cnki.jdxbgxb20170628

摘要/Abstract

摘要：

针对移动机器人动力学模型中的参数不确定性和扰动不确定性问题,提出了具有H_∞跟踪性能的自适应反步控制方法。首先,以线速度和角速度为虚拟的控制输入,设计了具有渐进稳定性的运动学轨迹跟踪控制器。其次,针对动力学系统中存在的不确定参数,采用自适应方法对其进行在线估计,该方法通过引入不连续映射保证了参数估计值的有界性。然后,采用反步法设计了动力学控制器,同时,在Lyapunov框架下证明了该控制器对扰动具有H_∞性能。最后通过仿真试验证明,即使在参数未知的情况下,该控制器也能够控制移动机器人跟踪上参考轨迹,且当系统存在外部扰动时,系统输出偏差能够收敛到有界范围内。由此验证了本文方法能够有效抑制系统参数变化及扰动对控制性能的影响。

关键词: 自动控制技术, 移动机器人, H_∞性能, 自适应控制, 反步法, 轨迹跟踪控制

Abstract:

This paper proposes an adaptive Backstepping control method with H_∞ tracking performance for mobile robots, which considers the uncertainty of parameter and disturbance in the dynamics equation of mobile robot. Firstly, the trajectory tracking controller with asymptotic stability is designed based on the kinematic model with the linear velocity and angular velocity as the virtual control input. Secondly, in order to deal with the parameter uncertainty in the dynamics system, an adaptive method is used to estimate the parameter online. The method ensures the boundedness of the estimated parameters by introducing the discontinuous mapping. Finally, the dynamics controller is designed by Backstepping method, meanwhile, the same time, the H_∞ performance of the proposed controller against disturbance is proved in the Lyapunov framework. The simulation results show that the controller can control the mobile robot tracking the reference trajectory even if the system parameters are unknown. For the bounded external disturbance, the controller can control the output deviation of the system within the bounded range. It is proved that the proposed method can suppress the influence of the system parameters and the disturbance on the control deviation in the presence of unknown parameters and disturbance in the system.

Key words: automatic control technology, mobile robots, H_∞ performance, adaptive control, backstepping, trajectory tracking control

中图分类号:

TP273

顾万里,王萍,胡云峰,蔡硕,陈虹. 具有H_∞性能的轮式移动机器人非线性控制器设计[J]. 吉林大学学报(工学版), 2018, 48(6): 1811-1819.

GU Wan-li,WANG Ping,HU Yun-feng,CAI Shuo,CHEN Hong. Nonlinear controller design of wheeled mobile robot with H_∞ performance[J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1811-1819.

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