一种轮式移动机器人滑模轨迹跟踪控制器设计及其参数优化方法

doi:10.16039/j.cnki.cn22-1249.2021.01.010

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摘要

为实现轮式机器人轨迹跟踪控制，以双闭环控制方案为基础，在每个闭环子系统中设计滑模控制器，并将粒子群算法应用其中，优化控制器参数，达到更好的跟踪效果。通过仿真验证了所设计的控制器能够实现轨迹跟踪，并且相较于人工经验整定的参数，通过优化得到的参数使控制器的控制性能更加优越。

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	高兴泉
	丁三毛
	黄东冬
	刘志成
	肖新宇

关键词: 轮式移动机器人轨迹跟踪控制滑模控制指数趋近律粒子群算法

Abstract:

In order to realize the trajectory tracking control of wheeled mobile robot, a sliding mode controller is designed in each closed-loop subsystem based on the double closed-loop control scheme, and particle swarm optimization algorithm is applied to optimize the controller parameters to achieve better tracking effect. Simulation results show that the designed controller can realize trajectory tracking, and compared with the parameters set by human experience, the parameters obtained through optimization can improve the control performance of the controller.

Key words: Wheeled Mobile Robot Trajectory Tracking Control Sliding Mode Control Law of Exponential Approach Particle Swarm Algorithm

出版日期: 2021-01-15 发布日期: 2021-01-15 整期出版日期: 2021-01-15

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引用本文:

高兴泉, 丁三毛, 黄东冬, 刘志成, 肖新宇. 一种轮式移动机器人滑模轨迹跟踪控制器设计及其参数优化方法 [J]. 吉林化工学院学报, 2021, 38(1): 47-51.
Gao Xingquan, DING Sanmao, HUANG Dongdong, LIU Zhicheng, XIAO Xinyu. A Method of Sliding Mode Trajectory Tracking Controller Design for Wheeled Robot and Its Parameter Optimization . Journal of Jilin Institute of Chemical Technology, 2021, 38(1): 47-51.

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https://xuebao.jlict.edu.cn/CN/10.16039/j.cnki.cn22-1249.2021.01.010 或 https://xuebao.jlict.edu.cn/CN/Y2021/V38/I1/47

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