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首页> 外文期刊>IEEE transactions on industrial informatics >Model-Based Coordinated Control of Four-Wheel Independently Driven Skid Steer Mobile Robot with Wheel–Ground Interaction and Wheel Dynamics
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Model-Based Coordinated Control of Four-Wheel Independently Driven Skid Steer Mobile Robot with Wheel–Ground Interaction and Wheel Dynamics

机译：具有轮-地相互作用和轮动力学的四轮独立驱动的滑移转向移动机器人基于模型的协调控制

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摘要

Four-wheel independently driven mobile robots are widely used in industrial automation, intelligent inspection, and outdoor exploration. The traditional kinematic control is usually applied for them, where only the chassis kinematics is taken into account and the robot dynamics (especially the wheel dynamics) is normally ignored. It may lead to some performance limitations such as the chattering phenomenon during robot rotating, because of the overactuation characteristic by four driving wheels. To address these problems, the integrated dynamic model is proposed, which includes chassis kinematics, chassis dynamics, wheel-ground interaction, and wheel dynamics. Subsequently, different from kinematic control, a model-based coordinated adaptive robust controller is developed, which generally consists of three-level designs for different parts of robot dynamics, and directly generates the motor driving torque commands for four wheels. The stability and tracking performance are theoretically guaranteed. Comparative experiments are carried out, and the results show the better performance of our proposed scheme.
机译：四轮独立驱动的移动机器人广泛用于工业自动化，智能检测和户外探险。通常对它们应用传统的运动学控制，其中仅考虑底盘运动学，而通常忽略机器人动力学（尤其是车轮动力学）。由于四个驱动轮的过驱动特性，可能会导致某些性能限制，例如机器人旋转时的颤动现象。为了解决这些问题，提出了集成的动力学模型，该模型包括底盘运动学，底盘动力学，轮-地相互作用和轮动力学。随后，不同于运动学控制，开发了一种基于模型的协调自适应鲁棒控制器，该控制器通常由针对机器人动力学不同部分的三级设计组成，并直接生成四个车轮的电动机驱动转矩命令。理论上保证了稳定性和跟踪性能。进行了比较实验，结果表明我们提出的方案具有更好的性能。

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  • 来源
    《IEEE transactions on industrial informatics》 |2019年第3期|1742-1752|共11页
  • 作者

    Liao Jianfeng; Chen Zheng; Yao Bin;

  • 作者单位

    Zhejiang Univ, State Key Lab Fluid Power & Mechatron Syst, Hangzhou 310027, Zhejiang, Peoples R China;

    Zhejiang Univ, State Key Lab Fluid Power & Mechatron Syst, Hangzhou 310027, Zhejiang, Peoples R China|Zhejiang Univ, Ocean Coll, Hangzhou 310027, Zhejiang, Peoples R China;

    Zhejiang Univ, State Key Lab Fluid Power & Mechatron Syst, Hangzhou 310027, Zhejiang, Peoples R China|Purdue Univ, Sch Mech Engn, W Lafayette, IN 47907 USA;

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  • 原文格式 PDF
  • 正文语种 eng
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  • 关键词

    Adaptive control; coordinated control; control allocation; mobile robot; robust control;

    机译：自适应控制;协调控制;控制分配;移动机器人;鲁棒控制;

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