空间控制技术与应用（中英文）2026，Vol.52Issue(2)：79-88,10.DOI:10.3969/j.issn.1674-1579.2026.02.008
速度受限/力矩饱和条件下基于观测器的移动机器人滑模控制
Observer Based Sliding Mode Control for Mobile Robots Under Speed Limited/Torque Saturation Conditions
摘要
Abstract
A disturbance observer-based adaptive sliding mode control method is proposed to address the stability control problem of wheeled mobile robots under speed constraints/torque saturation constraints,while considering uncertainties such as modeling errors and external disturbances.To achieve velocity control under constraints,we establish a fourth-order kinematic model,and design a kinematic controller via the saturation characteristics of hyperbolic tangent function.We design an integral sliding mode controller to address model uncertainties such as modeling errors.Considering the output limitation caused by torque saturation nonlinearity,a dynamic torque regulator based on torque difference is designed.An adaptive disturbance observer based on error signal is designed to achieve real-time estimation of external disturbances.Lyapunov functions is constructed to ensure the global asymptotic stability of the system.The effectiveness of the proposed algorithm is further verified through comparative experiments,and the control algorithm with disturbance observer has higher control accuracy.关键词
移动机器人/速度受限/力矩饱和/扰动观测器/力矩调节器/滑模控制器Key words
mobile robots/limited speed/torque saturation/disturbance observer/torque regulator/sliding mode controller分类
航空航天引用本文复制引用
张文辉,黄晓晨,方征,许昌亮,游张平..速度受限/力矩饱和条件下基于观测器的移动机器人滑模控制[J].空间控制技术与应用（中英文）,2026,52(2):79-88,10.基金项目
国家自然科学基金资助项目(61772247)、浙江省自然科学基金重点项目(LZ21F020003)和浙江省自然科学基金(LY20E050002和LY18F030001) National Natural Science Foundation of China(61772247),Key Project of Natural Science Foundation of Zhejiang Province(LZ21F020003),and Natural Science Foundation of Zhejiang Province(LY20E050002 and LY18F030001) （61772247）
