计算机应用研究2017，Vol.34Issue(9)：2703-2706,4.DOI:10.3969/j.issn.1001-3695.2017.09.031
基于内模扩展LQ方法的WMR轨迹跟踪控制
Trajectory tracking control based on internal model expanded LQ method for WMR systems
摘要
Abstract
To deal with some bottleneck problems from the view of linear control,this paper developed a linear quadratic (LQ) optimal method applied in WMR.First of all,based on the kinematics model,this work used dynamic feedback linearization technique to transform a non-linear system to a linear one.Then,this method selected tracking error and error convergence rate as design indicators to design LQ optimal trajectory tracking controller on the basis of such linear model.Moreover,according to different reference trajectory,it expanded the controller model to achieve the request of asymptotic tracking.Finally,it obtained actual controller by applying dynamic feedback inverse transformation.In addition,by comparing the control results with some of other classical solutions through simulation,these results illustrate that the solution of this paper shows larger advantage based on the accuracy and rapidity in tracking.关键词
轮式移动机器人/渐进跟踪/动态反馈线性化/LQ最优/精确性/快速性Key words
wheeled mobile robots/asymptotic tracking/dynamic feedback linearization/LQ optimal/accuracy/rapidity分类
信息技术与安全科学引用本文复制引用
骆伟宾,闻成,谭敏哲..基于内模扩展LQ方法的WMR轨迹跟踪控制[J].计算机应用研究,2017,34(9):2703-2706,4.基金项目
国家“973”计划资助项目(2014CB845302) （2014CB845302）
