基于控制系统的机器人运动研究
Research on Robot Motion Based on Control System
DOI: 10.12677/PM.2023.1310300, PDF,   
作者: 刘志民：上海出版印刷高等专科学校，基础教学部，上海
关键词: 控制系统；移动机器人；运动控制；Control System； Mobile Robot； Motion Control
摘要: 本文针对欠驱动自平衡两轮车的运动学和动力学特征，设计了一种解耦分层滑模模态控制方法，根据被控系统的拉格朗日力学模型，把系统的运动和动力学模型分为两个子系统，速度控制子系统和转向控制子系统，针对速度控制子系统，提出了分层滑模控制策略，针对转向控制子系统，设计了有限时间滑模控制策略，所设计的控制系统具有全局稳定性。可以较好地实现运动控制和转向控制。最后，将所提出的控制算法应用于两轮自平衡车，仿真结果表明了良好的收敛性和性能。
Abstract: According to the kinematics and dynamics characteristics of the under-driven self-balancing two-wheeled vehicle, a decoupling layered sliding mode control method is designed. According to the Lagrange mechanics model of the controlled system, the motion and dynamics model of the system is divided into two subsystems, the speed control subsystem and the steering control sub-system. For the speed control subsystem, a layered sliding mode control strategy is proposed. For the steering control subsystem, a finite-time sliding mode control strategy is designed, and the de-signed control system has global stability. Motion control and steering control can be well realized. Finally, the proposed control algorithm is applied to the two-wheel self-balancing vehicle, and the simulation results show good convergence and performance.
文章引用：刘志民. 基于控制系统的机器人运动研究[J]. 理论数学, 2023, 13(10): 2934-2941. https://doi.org/10.12677/PM.2023.1310300

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