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首页> 外文期刊>Journal of Intelligent and Robotic Systems >Adaptive Polar-Space Motion Control for Embedded Omnidirectional Mobile Robots with Parameter Variations and Uncertainties
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Adaptive Polar-Space Motion Control for Embedded Omnidirectional Mobile Robots with Parameter Variations and Uncertainties

机译：具有参数变化和不确定性的嵌入式全向移动机器人的自适应极空间运动控制

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摘要

This paper presents an adaptive polar-space motion controller for trajectory tracking and stabilization of a three-wheeled, embedded omnidirectional mobile robot with parameter variations and uncertainties caused by friction, slip and payloads. With the derived dynamic model in polar coordinates, an adaptive motion controller is synthesized via the adaptive backstepping approach. This proposed polar-space robust adaptive motion controller was implemented into an embedded processor using a field-programmable gate array (FPGA) chip. Furthermore, the embedded adaptive motion controller works with a reusable user IP (Intellectual Property) core library and an embedded real-time operating system (RTOS) in the same chip to steer the mobile robot to track the desired trajectory by using hardware/software co-design technique and SoPC (system-on-a-programmable-chip) technology. Simulation results are conducted to show the merit of the proposed polar-space control method in comparison with a conventional proportional-integral (PI) feedback controller and a non-adaptive polar-space kinematic controller. Finally, the effectiveness and performance of the proposed embedded adaptive motion controller are exemplified by conducting several experiments on steering an embedded omnidirectional mobile robot.
机译：本文提出了一种自适应极空间运动控制器，用于跟踪和稳定三轮嵌入式全向移动机器人，该机器人具有因摩擦，滑移和有效载荷引起的参数变化和不确定性。利用导出的极坐标动态模型，通过自适应反步方法合成了自适应运动控制器。使用现场可编程门阵列（FPGA）芯片，将该拟议的极空间鲁棒自适应运动控制器实现到嵌入式处理器中。此外，嵌入式自适应运动控制器与可重用的用户IP（知识产权）核心库和嵌入式实时操作系统（RTOS）集成在同一芯片中，从而通过使用硬件/软件协同来引导移动机器人跟踪所需的轨迹。设计技术和SoPC（可编程片上系统）技术。仿真结果表明，与常规比例积分（PI）反馈控制器和非自适应极空间运动学控制器相比，所提出的极空间控制方法具有优点。最后，通过对嵌入式全向移动机器人进行多次实验，对所提出的嵌入式自适应运动控制器的有效性和性能进行了举例说明。

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