| 轮式移动操作机器人的鲁棒跟踪控制器设计 |
| |
| 引用本文： | 张硕生,余达太.轮式移动操作机器人的鲁棒跟踪控制器设计[J].北京科技大学学报,2003,25(1):69-73. |
| |
| 作者姓名： | 张硕生 余达太 |
| |
| 作者单位： | 1. 北京石油化工学院自动化系,北京,102600
2. 北京科技大学机器人研究所,北京,100083 |
| |
| 摘 要： | 针对轮式移动操作机器人的非完整性和不确定性，为其设计了鲁棒跟踪控制器，即采用分段运动学到动力学为移动平台设计动力学跟踪控制器，并分别为移动平台和机械手设计神经网络控制器，利用遗传算法来搜索神经网络的优化权系值，从而补偿平台与机械手间的不确定量,通过Matlab的Simulink以及CMEX文件对所设计的控制器仿真，结果表明此控制器具有较强的鲁棒性。
|
| 关 键 词： | 轮式移动操作机器人 鲁棒跟踪控制器 分段运动学 动力学方法 神经网络 补偿平台 机械手 |
| 修稿时间： | 2001年12月4日 |
Robust Following Controller Design of Wheeled Mobile Manipulator |
| |
| ZHANG Shuosheng,YU DataiBeijing Institute of Petro-Chemical Technology.Robust Following Controller Design of Wheeled Mobile Manipulator[J].Journal of University of Science and Technology Beijing,2003,25(1):69-73. |
| |
| Authors: | ZHANG Shuosheng YU DataiBeijing Institute of Petro-Chemical Technology |
| |
| Institution: | ZHANG Shuosheng,YU DataiBeijing Institute of Petro-Chemical Technology. Beijing 102600,ChinaRobotics Research Institute,University of Science and Technology Beijing,Beijing 100083,China |
| |
| Abstract: | Focusing on the nonholonomy and uncertainty of wheeled mobile manipulators, a robust following controller was presented, the dynamic following controller was designedby the method of backstepping kinematics into dynamics, and the neural network controllers for the mobile platform and manipulator by the genetic algorithm to search for the neural network's weights. The uncertainty terms were compensated. The robust controller was simulated using the simulink of Matlab and C MEX-file. The results show the controller has better robustness. |
| |
| Keywords: | wheeled mobile manipulator robust following controller backstepping kinematics into dynamics neural network |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
