Abstract:

A saturated adaptive fuzzy dynamics control approach for trajectory tracking of uncertain nonholonomic mobile robots with bounded torque inputs was proposed herein. By using this approach, the kinematics controller and dynamics controller were designed independently based on backstepping technology. The problem of control value jumps was solved by using the shunting control technology in the kinematics controller. And the dynamics controller contained a saturated controller and an adaptive fuzzy approximator, where the saturation function and the limited control parameters were employed to ensure the bounded torque inputs. The impact of unknown uncertainties on system which were hard to be solved by conventional means were eliminated effectively by the fuzzy logic system combined with the adaptive method. The convergence and asymptotic stability were proven by Lyapunov direct method, the high control performance and strong robustness of the proposed controller were verified by simulation results.

Key words: mobile robot, trajectory tracking, saturation control, adaptive fuzzy logic system, nonholonomic system

摘要：

提出了一种非完整移动机器人饱和自适应模糊轨迹跟踪控制方法,该方法基于反演技术分别设计了系统的运动学控制器和动力学控制器。运动学控制器通过引入分流控制技术解决了初始速度跳变引起的控制量突变问题,动力学控制器利用饱和函数和受限控制参数实现了其有界力矩控制。自适应模糊控制器将模糊逻辑系统与自适应方法相结合,有效消除了常规方法难以解决的系统未知不确定性对系统的影响。通过Lyapunov直接法证明了该系统是收敛且渐进稳定的。仿真结果验证了所设计控制器的良好控制性能和强鲁棒性。

关键词: 移动机器人, 轨迹跟踪, 饱和控制, 自适应模糊逻辑系统, 非完整系统