测控技术2017，Vol.36Issue(7)：60-65,6.
一种球形移动机器人爬坡运动的自适应滑模控制
Adaptive Sliding Mode Control for Climbing Motion of a Spherical Mobile Robot
摘要
Abstract
An adaptive sliding mode control method is proposed for position control of a spherical mobile robot in climbing state.Based on the reasonable simplifications of the actual robotic system,the dynamic model of the climbing motion is established by using the Lagrangian method,and the dynamic model is transformed into state space form.Based on the state space model,the whole system is divided into two subsystems,and the sliding surfaces of the subsystems are defined respectively.The sliding surface of one subsystem is incorporated into the control design of another subsystem,and the sliding mode control law is derived by using Lyapunov stability theory.The time-varying switching gain is included in the proposed control law,which is adjusted online by an adaptation law.The stability of the closed-loop control system is analyzed,and the effectiveness of the proposed control method is verified through numerical simulation and prototype experiment.关键词
球形机器人/爬坡运动/动力学模型/自适应滑模控制/李亚普诺夫稳定性Key words
spherical robot/climbing motion/dynamic model/adaptive sliding mode control/Lyapunov stability分类
信息技术与安全科学引用本文复制引用
于涛,赵伟,孙汉旭..一种球形移动机器人爬坡运动的自适应滑模控制[J].测控技术,2017,36(7):60-65,6.基金项目
国家自然科学基金面上项目(51175048) （51175048）
辽宁省自然科学基金指导计划项目(201602379) （201602379）
辽宁省教育厅科学技术研究一般项目(L2015241) （L2015241）
