哈尔滨工程大学学报2011，Vol.32Issue(6)：792-799,8.DOI:10.3969/j.issn.1006-7043.2011.06.017
移动机器人的自适应模糊滑模动力学控制
Dynamic control of mobile robots based on an adaptive fuzzy sliding mode
摘要
Abstract
A hybrid control algorithm was proposed based on an adaptive shunting kinematic control and an adaptive fuzzy sliding mode dynamic control for the trajectory tracking control of nonholonomic mobile robots. The proposed adaptive shunting kinematic control method solves the speed jump caused by the large error of initial pose. Parameters and non-parameter uncertainties of a mobile robot can be solved by using a robust control which takes advantage of stability and robustness in a sliding mode control. The gain of a sliding mode control was adjusted by using the fuzzy control with an adaptive tuning algorithm, which enhanced the adaptability for random uncertainty and eliminated the input chattering of the sliding mode control. The stability and convergence of the control system were proven by using the Lyapunov method. The simulation results demonstrate that the controller has a smooth velocity output, and the tracking errors of a nonholonomic mobile robot are eliminated.关键词
自适应分流模型/自适应模糊滑模控制/运动学控制/动力学控制/轨迹跟踪/移动机器人Key words
adaptive shunting model/ adaptive fuzzy sliding mode control/ kinematic control/ dynamics control/trajectory tracking/ mobile robots分类
信息技术与安全科学引用本文复制引用
王宗义,李艳东,刘涛,于占东..移动机器人的自适应模糊滑模动力学控制[J].哈尔滨工程大学学报,2011,32(6):792-799,8.基金项目
国家自然科学基金资助项目(60804009) （60804009）
黑龙江省自然科学基金资助项目(AF200921). （AF200921）
