科技广场Issue(1)：89-93,5.
基于动力学模型的四轮全向机器人滑模轨迹跟踪控制
Sliding Mode Trajectory Tracking Control Based on Dynamic Model for Four-Wheel Drive Omni-Directional Mobile Robots
李运奇 1杨宜民 1王建彬1
作者信息
- 1. 广东工业大学自动化学院，广东 广州 510090
- 折叠
摘要
Abstract
The four-wheeled Omni Directional robot is a complicated redundancy control system, and its tra-jectory tracking control performance can be easily influenced by model uncertainty and external conditions. To solve this problem, this paper puts forward a sliding mode trajectory tracking control method based on dynamic model. First we convert the four-dimensional system model into a three-dimensional one by input transformation, and then we apply the sliding mode control method to trajectory tracking in response to the disturbance and the system model uncertainty. The simulation results show that this solution can effectively resist external disturbance and reduce the impact of model uncertainty, the robot can also rapidly and exactly track the expected trajectory.关键词
四轮驱动/全向机器人/动力学模型/滑模/轨迹跟踪Key words
Four-Wheel Drive/Omni-Directional Mobile Robot/Dynamic Model/Sliding Mode,/Trajectory Tracking分类
信息技术与安全科学引用本文复制引用
李运奇,杨宜民,王建彬..基于动力学模型的四轮全向机器人滑模轨迹跟踪控制[J].科技广场,2014,(1):89-93,5.
