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受扰差分移动机器人的分数阶跟踪控制

Fractional order tracking control of a disturbed differential mobile robot.

作者信息

Aguilar-Pérez José Ignacio, Duarte-Mermoud Manuel Armando, Velasco-Villa Martín, Castro-Linares Rafael

机构信息

Mechatronics Section, Electrical Engineering Department, Cinvestav-IPN, Mexico City 07360, Mexico.

Facultad de Ingeniería y Arquitectura Universidad Central de Chile Santiago, Chile.

出版信息

PLoS One. 2025 May 27;20(5):e0321749. doi: 10.1371/journal.pone.0321749. eCollection 2025.

DOI:10.1371/journal.pone.0321749
PMID:40424324
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC12112418/
Abstract

A trajectory tracking problem for a wheeled mobile robot, under skidding and slipping effects, is addressed. A sliding mode control scheme with fractional order reaching dynamics is proposed to solve the problem. The design of the control scheme is based on backstepping and passivity feedback equivalence techniques. The skidding and slipping effects are treated as a part of exogenous disturbances associated to a kinematic model of the robot. A formal study, based on Lyapunov stability theory, is carried out to assure the existence of a sliding surface where trajectory tracking is obtained; the same stability tool is used to study the trajectory tracking error behavior of the closed loop system. The performance of the control scheme is evaluated by means of numerical simulations and experimental results showing a good performance when compared with the corresponding integer order control scheme.

摘要

针对轮式移动机器人在侧滑和打滑影响下的轨迹跟踪问题进行了研究。提出了一种具有分数阶趋近律的滑模控制方案来解决该问题。该控制方案的设计基于反步法和无源反馈等效技术。侧滑和打滑影响被视为与机器人运动学模型相关的外部干扰的一部分。基于李雅普诺夫稳定性理论进行了形式化研究，以确保存在能够实现轨迹跟踪的滑动面；使用相同的稳定性工具来研究闭环系统的轨迹跟踪误差行为。通过数值模拟和实验结果对控制方案的性能进行了评估，结果表明与相应的整数阶控制方案相比，该方案具有良好的性能。

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