非时间参考的类车机器人定点跟踪控制

中国机械工程 ›› 2015, Vol. 26 ›› Issue (13): 1705-1711.

非时间参考的类车机器人定点跟踪控制

李红1,2;郭孔辉1,2,3;宋晓琳1;黄江1

1.湖南大学汽车车身先进设计制造国家重点实验室，长沙，410082
2.清华大学汽车安全与节能国家重点实验室，北京，100084
3.吉林大学汽车仿真与控制国家重点实验室，长春，130022

出版日期:2015-07-10 发布日期:2015-07-08
基金资助:
国家自然科学基金资助项目(51175159)；湖南省研究生科研创新项目(CX-2013B146)

Non-time Reference Point Tracking Control for Car-like Mobile Robots

Li Hong1,2;Guo Konghui1,2,3;Song Xiaolin1;Huang Jiang1

1.State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body，Hunan University，Changsha，410082
2.State Key Laboratory of Automotive Safety and Energy，Tsinghua University，Beijing，100084
3.State Key Laboratory of Automobile Automotive Simulation and Control，Jilin University，Changchun，130022

Online:2015-07-10 Published:2015-07-08
Supported by:
National Natural Science Foundation of China（No. 51175159）

摘要/Abstract

摘要：

针对移动机器人控制研究中的小车速度与加速度饱和限制现象，提出了非时间参考的定点跟踪控制方法。选择随时间单调递增的非时间变量为转向控制律变量，摆脱了移动机器人速度与加速度对控制律的时域限制。在Simulink中建立控制逻辑并进行了单目标点与多目标点连续跟踪仿真。单目标点跟踪仿真结果表明，对于任意初始状态机器人，提出的定点跟踪控制方法均能使小车到达目标状态。多目标点连续跟踪结果表明，可将定点跟踪控制策略应用于类车机器人的路径跟踪控制。

关键词: 定点跟踪, 非完整约束, 非时间参考, 非线性反馈, 类车机器人

Abstract:

According to velocity and acceleration saturation restriction in mobile robot control system, a non-time reference point tracking control method was proposed. A variable that monotononicly increasing over time was selected as the control logic variable, so velocity and acceleration saturation phenomenon in time domain was avoided. Control logic model was built using Simulink, then single point tracking simulation and tracking simulation of multiple continuous target points were done. Single point tracking simulation results show that, robot reaches the target state eventually with any initial state under the control method. Tracking simulation results of multiple continuous target points show that the point tracking control method can be used in path tracking for car-like robot.

Key words: point tracking, non-holonomic constraint, non-time reference, nonlinear feedback, car-like mobile robot

中图分类号:

TP273

李红, 郭孔辉, 宋晓琳, 黄江. 非时间参考的类车机器人定点跟踪控制[J]. 中国机械工程, 2015, 26(13): 1705-1711.

Li Hong, Guo Konghui, Song Xiaolin, Huang Jiang. Non-time Reference Point Tracking Control for Car-like Mobile Robots[J]. China Mechanical Engineering, 2015, 26(13): 1705-1711.

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