Peng Jinzhu, Yu Jie, Wang Jie
School of Electrical Engineering, Zhengzhou University, Zhengzhou, Henan 450001, China.
School of Electrical Engineering, Zhengzhou University, Zhengzhou, Henan 450001, China.
ISA Trans. 2014 Jul;53(4):1035-43. doi: 10.1016/j.isatra.2014.05.012. Epub 2014 Jun 7.
In this paper, mobile manipulator is divided into two subsystems, that is, nonholonomic mobile platform subsystem and holonomic manipulator subsystem. First, the kinematic controller of the mobile platform is derived to obtain a desired velocity. Second, regarding the coupling between the two subsystems as disturbances, Lyapunov functions of the two subsystems are designed respectively. Third, a robust adaptive tracking controller is proposed to deal with the unknown upper bounds of parameter uncertainties and disturbances. According to the Lyapunov stability theory, the derived robust adaptive controller guarantees global stability of the closed-loop system, and the tracking errors and adaptive coefficient errors are all bounded. Finally, simulation results show that the proposed robust adaptive tracking controller for nonholonomic mobile manipulator is effective and has good tracking capacity.
在本文中，移动机械手被分为两个子系统，即非完整移动平台子系统和完整机械手子系统。首先，推导移动平台的运动控制器以获得期望速度。其次，将两个子系统之间的耦合视为干扰，分别设计两个子系统的李雅普诺夫函数。第三，提出一种鲁棒自适应跟踪控制器来处理参数不确定性和干扰的未知上界。根据李雅普诺夫稳定性理论，所推导的鲁棒自适应控制器保证闭环系统的全局稳定性，并且跟踪误差和自适应系数误差均有界。最后，仿真结果表明所提出的非完整移动机械手鲁棒自适应跟踪控制器是有效的，并且具有良好的跟踪能力。
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