模块化移动机器人的无模型自适应控制研究.pdf

文档介绍：29 4 Vol. 29
第卷第期机电工程
2012 4 Journal of Mechanical & Electrical Engineering Apr. 2012
A-PDF年月 Split DEMO : Purchase from to remove the watermark
模块化移动机器人的无模型自适应控制研究*
王永 1 ,费燕琼 1* ,宋立博 2
1. 200240 2. 200240
( 上海交通大学机器人研究所,上海; 上海交通大学工程训练中心,上海)
MFA
摘要:为研究无模型自适应( )控制算法在机器人控制领域的应用,设计了差动驱动的模块化移动机器人。在考虑非完整约束、
MIMO PWM
、饱和约束等特点基础上,建立了以差动驱动电机脉宽调制( )信号为输入、以机器人方位角和线速度为输出的无模型自
适应控制系统;为提高运算速度并减少运算量,使用最小二乘原理设计了新的伪偏导数和控制律在线估计算法。仿真结果表明,该
PID
方法具有鲁棒性强、响应速度快及控制精度高的特点,其性能优于传统的控制。
关键词:模块化移动机器人;无模型自适应控制;最小二乘法;伪偏导数;脉宽调制
TH39 TP24 A 1001-4551 2012 04-0400-04
中图分类号: ; 文献标志码: 文章编号: ( )
Study on control method of modular mobile robot based on MFA theory
WANG Yong FEI Yan-qiong SONG Li-bo
1, 1, 2
1. Institute of Robotics Shanghai Jiaotong University Shanghai 200240 China
( , , , ;
2. Engineering Traning Center Shanghai Jiaotong University Shanghai 200240 China
, , , )
For the study of model-free adaptive MFA control algorithm applied in the field of robot control a modular differential-driven
Abstract: ( ) ,
mobile robot was designed. Taking such factors as nonholonomic constraint MIMO capacity constraints and other characteristics into
, ,
consideration the model-free adaptive control system was established accordingly. The pulse width modulation PWM signals were used as
, ( )
inputs the robot's azimuth and velocity were used as outputs