拖挂式移动机器人非完整系统控制特性与运动控制问题研究

项目名称： 拖挂式移动机器人非完整系统控制特性与运动控制问题研究

项目编号： No.61203335

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 自动化学科

项目作者： 程金

作者单位： 济南大学

项目金额： 24万元

中文摘要： 本项目拟以拖挂式移动机器人为对象研究非完整系统的控制问题。由于非完整约束的存在，系统的反馈镇定问题不存在任何光滑的时不变的渐近稳定控制律。项目对非完整系统的控制特性进行分析，拟采用动态反馈精确线性化方式，利用微分几何工具分析系统动态反馈精确线性化的对合条件，进而基于能量整形方法提出机器人反向运动时系统反馈镇定问题的渐近稳定的非连续或时变控制律。由于反向运动时拖车子系统不稳定且存在机械连接所造成的完整约束，两节拖车移动机器人的反向路径跟踪问题有非常复杂，项目拟研究第二节拖车方向角的渐近稳定跟踪控制律，在此基础上设计路径跟踪问题的控制方法。上述结果将应用于解决拖挂式移动机器人实验系统的运动控制问题，验证研究方法的有效性。

中文关键词： 拖车系统；移动机器人；非完整系统；方向角控制；运动规划

英文摘要： Motion control problems of the nonholonomic system derived from a tractor-trailer mobile robot are studied in this project. Due to the existence of nonholonomic constraints, there exits no any smooth time-invarying asymptotically stable control law for the feedback stabilization problem of the system.The controllability and the involutive condition of dynamic feedback linearization for the nonholonomic system are firstly analyzed with differential geometric tool. A discontinuous or time-varying asymptotically stable control law for the noholonomic system in backward motion is then proposed with energy shaping method. For that the sub-system of trailers are unstable in backward motion and restricted with holonomic constraints caused by the mechanical joints, the backward path tracking problem of the mobile robot with two trailers is much more complicated. The asymptotically stable control law for the orientation tracking of the second trailer is studied. On this basis the control method of the path tracking problem is designed. All the results of the research proposed above will be applied to a experiment system of a tractor-trailer mobile robot with one trailer to verify the effectiveness of the proposed methods.

英文关键词： trailer system；mobile robot；nonholonomic system；orientation angle tracking；motion planning