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车红娟,高学山,赵鹏,郝亮超,牛军道.火灾预警巡检机器人轨迹跟踪控制[J].广西科学院学报,2021,37(4):346-353. [点击复制]
- CHE Hongjuan,GAO Xueshan,ZHAO Peng,HAO Liangchao,NIU Jundao.Trajectory Tracking Control of Fire Warning and Inspection Robot[J].Journal of Guangxi Academy of Sciences,2021,37(4):346-353. [点击复制]
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| 火灾预警巡检机器人轨迹跟踪控制 |
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车红娟1, 高学山1,2, 赵鹏1, 郝亮超3, 牛军道3
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| (1.广西科技大学电气电子与计算机科学学院, 广西柳州 545006;2.北京理工大学机电学院, 北京 100081;3.广西科技大学机械与汽车工程学院, 广西柳州 545616) |
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| 摘要: |
| 针对如何减小火灾预警巡检机器人在目标轨迹跟踪过程中产生的角度和距离偏航问题，提出一种基于Backstepping的轨迹跟踪快速响应控制算法。首先根据机器人行驶偏差与轮速之间的关系，推导出移动机器人运动学模型，利用Backstepping构造出跟踪控制器，在控制器中引入虚拟反馈函数，调节控制器的跟踪效果；然后借助Lyapunov稳定性理论证明收敛性；最后，借助仿真实验和实物验证算法的有效性。研究结果表明所提出的轨迹跟踪控制方法可以使机器人减少轨迹跟踪过程中的误差，并最终使系统趋于稳定。 |
| 关键词: 火灾预警 巡检机器人 Backstepping算法 Lyapunov算法 轨迹跟踪 |
| DOI：10.13657/j.cnki.gxkxyxb.20211216.001 |
| 投稿时间：2021-06-15 |
| 基金项目:柳州市科技计划项目（2020PAAA0601）资助。 |
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| Trajectory Tracking Control of Fire Warning and Inspection Robot |
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CHE Hongjuan1, GAO Xueshan1,2, ZHAO Peng1, HAO Liangchao3, NIU Jundao3
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| (1.School of Electrical, Electronic&Computer Science, Guangxi University of Science and Technology, Liuzhou, Guangxi, 545006, China;2.School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China;3.School of Mechanical and Automotive Engineering, Guangxi University of Science and Technology, Liuzhou, Guangxi, 545616, China) |
| Abstract: |
| In order to reduce the angle and distance yaws generated during the travel of the fire warning inspection robot in the process of target trajectory tracking,a fast response control algorithm for trajectory tracking based on Backstepping was proposed.Firstly,according to the relationship between the robot driving deviation and wheel speed,a kinematic model of the mobile robot was derived,and a tracking controller was constructed using Backstepping.A virtual feedback function was introduced in the controller to adjust the tracking effect of controller.Then convergence was proved with the help of Lyapunov stability theory.Finally,the effectiveness of the algorithm was verified by simulation experiments and physical objects.The research results showed that the proposed trajectory tracking control method could reduce the errors in the trajectory tracking process of the robot,and finally made the system more stable. |
| Key words: fire warning inspection robot Backstepping algorithm Lyapunov algorithm trajectory tracking |
