吉林大学学报(工学版) ›› 2021, Vol. 51 ›› Issue (3): 1097-1105.doi: 10.13229/j.cnki.jdxbgxb20200065
• 通信与控制工程 • 上一篇
Shu-you YU1,2(),Huan CHANG2,Ling-yu MENG2,Yang GUO2,Ting QU1()
摘要:
轮式移动机器人路径跟踪控制问题中通常存在状态约束和输入约束,并且系统运行时容易受到外部扰动的影响。本文基于非线性扰动观测器提出了一种轮式移动机器人滚动时域路径跟踪控制策略。当没有外部扰动作用于系统时,滚动时域控制算法可以满足控制约束和状态约束,并且使得轮式移动机器人跟踪期望的轨迹;当存在外部干扰,尤其是慢变扰动时,非线性扰动观测器能够估计扰动,并通过反馈补偿扰动对轮式移动机器人移动轨迹的影响。仿真结果表明,在外部干扰存在的情况下该控制策略能够保证移动机器人渐近跟踪期望路径。
中图分类号:
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