Trajectory Tracking Control of Wheeled Robot based on Neural Dynamic Mechanics with Parameter Adaptive

Zhang Wenchao; Jiang Qingjian

doi:10.16578/j.issn.1004.2539.2016.05.011

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Trajectory Tracking Control of Wheeled Robot based on Neural Dynamic Mechanics with Parameter Adaptive

更新时间：2022-10-20

- Trajectory Tracking Control of Wheeled Robot based on Neural Dynamic Mechanics with Parameter Adaptive
- Vol. 40, Issue 5, Pages: 46-49(2016)
- 作者机构：
  
  1. 新乡医学院
  2. 河南经贸职业学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2016.05.011
  CLC：
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[1]张文超,蒋清健.基于参数自适应神经动力力学的轮式机器人轨迹跟踪控制[J].机械传动,2016,40(05):46-49+54.

Zhang Wenchao, Jiang Qingjian. Trajectory Tracking Control of Wheeled Robot based on Neural Dynamic Mechanics with Parameter Adaptive. [J]. 40(5):46-49(2016)
[1]张文超,蒋清健.基于参数自适应神经动力力学的轮式机器人轨迹跟踪控制[J].机械传动,2016,40(05):46-49+54. DOI： 10.16578/j.issn.1004.2539.2016.05.011.

Zhang Wenchao, Jiang Qingjian. Trajectory Tracking Control of Wheeled Robot based on Neural Dynamic Mechanics with Parameter Adaptive. [J]. 40(5):46-49(2016) DOI： 10.16578/j.issn.1004.2539.2016.05.011.

摘要

轮式机器人具有复杂多变的非线性、强耦合以及时变的动力学特点,采用传统的机器人轨迹跟踪控制容易产生较大的速度突变,导致机器人在控制过程中产生抖振现象,为此提出了一种基于参数自适应神经动力力学的轮式机器人轨迹跟踪控制方法。通过运动学分析并建立轮式机器人的位姿误差模型,采用神经动力学设计机器人轨迹跟踪控制器;分析比较不同参数取值与控制量之间的关系,设计了一种参数自适应方法进一步提高轨迹跟踪控制器的性能;最后,通过对所设计的控制方法进行了仿真实验。实验结果表明,所设计的控制方法能够保证机器人拥有较小的速度突变,在出现误差情况下能够以较快速度收敛,在轨迹跟踪上拥有较高的精度。

Abstract

The wheeled robot has a complex nonlinear,strong coupling and time- varying dynamics characteristics,so taking the using of the traditional robot trajectory tracking control is easy to produce larger velocity mutation,and it bring about the chattering phenomenon of the robot in the process of control,and a kind of wheeled robot trajectory tracking control method based on parameter adaptive neural dynamic mechanics is put forward. By kinematical analysis,the posture error model of wheeled robot is established,the robot trajectory tracking controller is designed by using the neural dynamics. Through analyzing and comparing of the relationship between the different parameter selection and control,and a parameter adaptive method to further improve the performance of trajectory tracking controller is designed. Finally,the simulation experiment is carried on for the design of the control method. The experimental results show that the designed control method can ensure the robot have smaller velocity mutation,and convergence at a faster pace in case of error with high precision in trajectory tracking.

关键词

轮式机器人神经动力学参数自适应轨迹跟踪仿真

Keywords

Wheeled robotNeural dynamicsParameter adaptiveTrajectory trackingSimulation

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