基于自适应滑模的移动机械臂跟踪控制
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摘要
针对非完整移动机械臂的轨迹跟踪控制问题,提出一种系统参数在线估计的自适应滑模控制策略。该方法将移动机械臂作为一个完整系统考虑,首先根据系统的动力学方程设计了滑模控制器;然后设计一种自适应律对系统中的不确定参数进行估计。与传统滑模控制相比,该算法不需要系统参数的上界已知。最后仿真实例说明了所提方法的有效性和优越性。
In this paper,an adaptive sliding mode control scheme is proposed for the tracking problem of nonholonomic mobile manipulators with online estimation of the controller parameter.Mobile manipulators are represented by a complete system.Firstly,a sliding mode controller is designed based on the dynamic equations of the system.Then,an adaptive law is designed to estimate uncertain system parameters.Compared with the sliding mode control strategy,the proposed method works well even with the unknown upper bounds of the system parameters.Finally,simulation results demonstrate the effectiveness and superiority of the proposed controller.
In this paper,an adaptive sliding mode control scheme is proposed for the tracking problem of nonholonomic mobile manipulators with online estimation of the controller parameter.Mobile manipulators are represented by a complete system.Firstly,a sliding mode controller is designed based on the dynamic equations of the system.Then,an adaptive law is designed to estimate uncertain system parameters.Compared with the sliding mode control strategy,the proposed method works well even with the unknown upper bounds of the system parameters.Finally,simulation results demonstrate the effectiveness and superiority of the proposed controller.
引文
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[14]李建峰,杨芳.具未知参数的非完整移动机器人自适应镇定[J].控制工程,2016,23(8):1163-1166.Li J F,Yang F.Adaptive Stabilization for Nonholonomic Mobile Robots with Unknown Parameters[J].Control Engineering of China,2016,23(8):1163-1166.
[15]吴玉香,胡跃明.轮式移动机械臂的建模与仿真研究[J].计算机仿真,2006,23(1):147-151.Wu Y X,Hu Y M.Modeling and Simulation of Wheeled Mobile Manipulators[J].Computer Simulation,2006,23(1):147-151.
[2]Tan J,Xi N,Wang Y.Integrated Task Planning and Control for Mobile Manipulators[J].International Journal of Robotics Research,2003,22(5):337-354.
[3]Evangelos P,John P.Planning and Model-based Control for Mobile Manipulators[C].Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems,2000:1810-1815.
[4]董文杰,徐文立.移动机械手的鲁棒控制[J].控制理论与应用,2002,19(3):345-348.Dong W J,Xu W L.On Robust Control of Mobile Manipulators[J].Control Theory and Application,2002,19(3):345-348.
[5]Lin S,Goldenberg A A.Neural-network Control of Mobile Manipulator[J].IEEE Transactions on Neural Networks,2001,12(5):1121-1133.
[6]Lin S,Goldenberg A A.Robust Damping Control of Mobile Manipulators[J].IEEE Transactions on Systems,Man,and Cybernetics,Part B,2002,32(1):126-132.
[7]Xu D,Zhao D,Yi J,et al.Trajectory Tracking Control of Omnidirectional Wheeled Mobile Manipulators:Robust Neural Network-Based Sliding Mode Approach[J].IEEE Transactions on Systems,Man,and Cybernetics,Part B,2009,39(3):788-799.
[8]Chen N,Song F,Li G,et al.An Adaptive Sliding Mode Backstepping Control for the Mobile Manipulator with Nonholonomic Constraints[J].Communications in Nonlinear Science and Numerical Simulation,2013,18(10):2885-2899.
[9]Li Z,Ge S S,Ming A.Adaptive Robust Motion/Force Control of Holonomic-constrained Nonholonomic Mobile Manipulator[J].IEEETransactions on Systems,Man,and Cybernetics,Part B,2007,37(3):607-616.
[10]Boukattaya M,Damak T,Jallouli M.Robust Adaptive Control for Mobile Manipulators[J].International Journal of Automation and Computing,2011,8(1):8-13.
[11]Peng J Z,Yu J,Wang J.Robust Adaptive Tracking Control for Nonholonomic Mobile Manipulator with Uncertainties[J].ISATransactions,2014,53(4):1035-1043.
[12]宋佐时.移动机械手协调控制研究[D].北京:中国科学院自动化研究所,2005.Song Z S.Research on Coordinated Control of Mobile Manipulator Systems[D].Beijing:Institute of Automation of Chinese Academy of Sciences,2005.
[13]Wang Y,Peng J Z,Sun W,et al.Robust Adaptive Tracking Control of Robotic Systems with Uncertainties[J].Journal of Control Theory and Applications,2008,6(3):281-286.
[14]李建峰,杨芳.具未知参数的非完整移动机器人自适应镇定[J].控制工程,2016,23(8):1163-1166.Li J F,Yang F.Adaptive Stabilization for Nonholonomic Mobile Robots with Unknown Parameters[J].Control Engineering of China,2016,23(8):1163-1166.
[15]吴玉香,胡跃明.轮式移动机械臂的建模与仿真研究[J].计算机仿真,2006,23(1):147-151.Wu Y X,Hu Y M.Modeling and Simulation of Wheeled Mobile Manipulators[J].Computer Simulation,2006,23(1):147-151.