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首页> 外文期刊>Proceedings of the institution of mechanical engineers >Non-model-based control for a wheeled mobile robot towing two trailers
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Non-model-based control for a wheeled mobile robot towing two trailers

机译：拖曳两个拖车的轮式移动机器人的基于非模型的控制

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摘要

In this paper, trajectory tracking control of a wheeled mobile robot (tractor) with two trailers including three non-holonomic constraints is analyzed. This system is a nonlinear, under actuated mechanical system subjected to nonho-lonomic kinematic constraints. First, system dynamic equations are obtained. A non-model-based control algorithm using PD-action filtered errors has been used in order to control the wheeled robot. Non-model-based controllers are always more appropriate than model-based algorithms due to lower dependency on dynamic models, lower computational costs, and also robustness to uncertainties. Asymptotic stability of the closed-loop system has been investigated using Lyapunov method and Barbalat's lemma. Finally, in order to show the effectiveness of the proposed approach simulation and experimental results have been presented. Obtained results show that without requiring a priori knowledge of plant dynamics, and with reduced computational burden, the tracking performance of the presented algorithm is quite satisfactory.
机译：本文分析了具有两个非完整约束的两个拖车的轮式移动机器人（拖拉机）的轨迹跟踪控制。该系统是非线性的，受到非完整运动学约束的，受驱动的机械系统。首先，获得系统动力学方程。为了控制轮式机器人，已经使用了基于非模型的，使用PD动作过滤错误的控制算法。非基于模型的控制器总是比基于模型的算法更合适，因为它对动态模型的依赖性较低，计算成本较低，并且对不确定性具有鲁棒性。使用Lyapunov方法和Barbalat引理研究了闭环系统的渐近稳定性。最后，为了显示所提出的方法的有效性，已经给出了仿真和实验结果。获得的结果表明，不需要先验的植物动力学知识，并且具有减少的计算负担，所提出的算法的跟踪性能是非常令人满意的。

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