带有干扰估计的两轮自平衡机器人运动控制研究
Research on Motion Control of Two Wheeled-Self Balancing Robot with Interference Estimation
DOI: 10.12677/pm.2024.147269, 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: 干扰估计；两轮移动机器人；运动控制；Disturbance Estimation； Two-Wheeled Mobile Robots； Motion Control
摘要: 本文运用拉格朗日力学理论分析了自平衡两轮机器人的运动学数学模型，设计了一种带有干扰项的滑模控制方法，该控制器可用于两轮自平衡机器人的纵向速度控制和转向控制。针对非线性因素无法精确建模的情况，利用在线干扰估计技术来估计系统中的干扰项，作为前馈补偿项对滑模控制器进行前馈补偿，只需要计算干扰项和其估计误差的上界，系统的精度和鲁棒性都得到了提高。利用李雅普诺夫稳定性理论证明了系统的渐近稳定性，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，在干扰条件下，该控制算法可以使该机器人迅速恢复平衡状态。
Abstract: This article applies Lagrangian mechanics theory to analyze the kinematic mathematical model of a two wheeled-self balancing robot, and designs a sliding mode control method with interference terms. The controller can be used for longitudinal speed control and steering control of two wheeled-self balancing robots. In response to the situation where nonlinear factors cannot be accurately modeled, online interference estimation technology is used to estimate the interference term in the system. As a feed forward compensation term, the sliding mode controller is feed forward compensated. Only the upper bound of the interference term and its estimation error needs to be calculated, and the accuracy and robustness of the system are improved. The asymptotic stability of the system was demonstrated using Lyapunov stability theory. Finally, the proposed control algorithm was applied to a two wheeled-self balancing vehicle. Simulation results showed that under interference conditions, the control algorithm could quickly restore the robot to its equilibrium state.
文章引用：刘志民. 带有干扰估计的两轮自平衡机器人运动控制研究[J]. 理论数学, 2024, 14(7): 41-47. https://doi.org/10.12677/pm.2024.147269

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