| 基于T-S模型的轮式移动机器人轨迹跟踪控制 |
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| 引用本文： | 高兴泉,陈虹.基于T-S模型的轮式移动机器人轨迹跟踪控制[J].控制理论与应用,2007,24(6):873-878. |
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| 作者姓名： | 高兴泉 陈虹 |
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| 作者单位： | 1. 吉林大学,控制科学与工程系,吉林,长春,130025;吉林化工学院,机电工程系,吉林,吉林,132022
2. 吉林大学,控制科学与工程系,吉林,长春,130025;吉林大学,汽车动态模拟国家重点实验室,吉林,长春,130025 |
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| 基金项目： | 国家自然科学基金重点资助项目(60234030)，吉林市杰出青年计划项目． |
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| 摘 要： | 针对带有执行机构饱和约束与外部干扰的轮式移动机器人,提出了一种基于T-S模糊模型的轨迹跟踪方法.利用机器人运动特性和参考轨迹建立轨迹跟踪的误差系统并将其作T-S模型描述.通过求解具有LMI约束的半定规划问题,对每个线性子系统单独设计满足控制约束与H∞性能约束的状态反馈控制器,并在PDC(动态平行分配补偿)设计框架下构建全局控制器,最后证明闭环系统的李雅普诺夫稳定性.仿真结果验证了该方法的有效性和可行性.
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| 关 键 词： | 轮式移动机器人 T-S模型 轨迹跟踪 执行器饱和约束 干扰抑制 |
| 文章编号： | 1000-8152（2007）06-0873-06 |
| 收稿时间： | 2006-03-17 |
| 修稿时间： | 2006-10-19 |
Tracking control for wheeled mobile robot via T-S fuzzy model |
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| GAO Xing-quan,CHEN Hong.Tracking control for wheeled mobile robot via T-S fuzzy model[J].Control Theory & Applications,2007,24(6):873-878. |
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| Authors: | GAO Xing-quan CHEN Hong |
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| Affiliation: | Department of Control Science and Engineering, Jilin University, Changchun Jilin 130025, China; Department of Electromechanical Engineering, Jilin Institute of Chemical Technology, Jilin Jilin 132022, China; National Automobile Dynamic Simulation Laboratory, Jilin University, Changchun Jilin 130025, China |
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| Abstract: | For the wheeled mobile robot(WMR) with actuator saturations and external disturbances, a tracking scheme via Takagi-Sugeno(T-S) fuzzy model is proposed. The tracking error system of WMR is established using the given trajectory and then represented by a T-S fuzzy model. Constrained H-infinity controller in the form of state feedback is also derived for each subsystem by solving LMI based semi-definite programming problems. Furthermore, the overall controller is constructed in the framework of parallel distributed compensation(PDC), and the Lyapunov stability of the closed-loop system is tested. Finally, simulation results are given and discussed to validate the proposed scheme. |
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| Keywords: | wheeled mobile robot T-S fuzzy model tracking control actuator saturations disturbance attenuation |
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