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轮式机器人具有复杂多变的非线性、强耦合以及时变的动力学特点,采用传统的机器人轨迹跟踪控制容易产生较大的速度突变,导致机器人在控制过程中产生抖振现象,为此提出了一种基于参数自适应神经动力力学的轮式机器人轨迹跟踪控制方法。通过运动学分析并建立轮式机器人的位姿误差模型,采用神经动力学设计机器人轨迹跟踪控制器;分析比较不同参数取值与控制量之间的关系,设计了一种参数自适应方法进一步提高轨迹跟踪控制器的性能;最后,通过对所设计的控制方法进行了仿真实验。实验结果表明,所设计的控制方法能够保证机器人拥有较小的速度突变,在出现误差情况下能够以较快速度收敛,在轨迹跟踪上拥有较高的精度。
Wheeled robots have the characteristics of complex and changeable nonlinear, strong coupling and time-varying dynamics. The traditional robotic trajectory tracking control is prone to a large speed mutation, resulting in the chattering of robots in the control process. To this end, A control method based on adaptive neuro-dynamics of parameters is presented for the trajectory tracking of wheeled robots. Through the kinematics analysis and the establishment of the attitude and attitude error model of the wheeled robot, the robot trajectory tracking controller is designed by using the neurodynamics. By analyzing and comparing the relationship between the value of different parameters and the control amount, a parameter adaptive method is designed to further improve Trajectory tracking controller performance; Finally, through the simulation of the control method designed. The experimental results show that the proposed control method can guarantee the robot to have a small sudden change in velocity, converge at a faster speed in case of error, and have higher accuracy in trajectory tracking.