MY3轮式全向移动机器人模糊自抗扰控制方法

IF 1.9 4区 计算机科学 Q3 ENGINEERING, INDUSTRIAL Industrial Robot-The International Journal of Robotics Research and Application Pub Date : 2023-05-03 DOI:10.1108/ir-10-2022-0264
C. Ye, Jingru Shao, Yong Liu, Su-Yang Yu
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引用次数: 0

摘要

目的全向移动机器人具有一种特殊的轮式结构,可以在一个平面上实现三自由度的柔性运动。但这种驱动方式会带来较大的扰动,影响运动精度和稳定性。为了提高MY3轮全向移动平台(MY3- omr)的运动控制精度,提出了一种新的自适应模糊自抗扰控制(FADRC)方法。基于MY3-OMR的基本机械结构和驱动特性,建立了系统的动力学模型。为了减少非线性因素对该动力学模型的干扰,设计了线性自抗扰控制(LADRC)系统。引入模糊控制器实现LADRC参数的在线调整,进一步提高了系统的抗干扰性能。结果本文提出的控制方法通过仿真和实验与其他方法进行了比较和分析。结果表明,该方法具有较好的跟踪性和鲁棒性,有效提高了MY3-OMR轨迹跟踪的控制精度。将模糊控制与LADRC相结合,提出了一种具有自适应性的FADRC方法。该控制方法提高了MY3-OMR的运动精度和抗干扰能力,为MY3-OMR的后续应用奠定了基础。
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Fuzzy active disturbance rejection control method for an omnidirectional mobile robot with MY3 wheel
Purpose Omnidirectional mobile robots with a special type of wheel structure can realize flexible motion with all three degrees of freedom in a plane. But the driving method brings large disturbance, which affects motion accuracy and stability. This study aims to improve the motion control accuracy of the omnidirectional mobile platform with MY3 wheels (MY3-OMR), a new fuzzy active disturbance rejection control (FADRC) method with adaptivity is proposed. Design/methodology/approach Based on the basic mechanical structure and drive characteristics of MY3-OMR, the dynamics model of the system is established. The linear active disturbance rejection control (LADRC) system is designed to reduce the interference of nonlinear factors in this dynamics model. A fuzzy controller is introduced to realize the online adjustment of the parameters of the LADRC, which further improves the anti-disturbance performance of the system. Findings The control method proposed in this paper is compared and analyzed with other methods by simulation and experiment. Results show that the proposed method has better tracking and robustness, which effectively improves the control accuracy of trajectory tracking of MY3-OMR. Originality/value A FADRC method with adaptivity is proposed by combining fuzzy control and LADRC. The motion accuracy and anti-interference ability of the MY3-OMR are improved by this control method, which lays a foundation for the subsequent application of MY3-OMR.
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来源期刊
CiteScore
4.50
自引率
16.70%
发文量
86
审稿时长
5.7 months
期刊介绍: Industrial Robot publishes peer reviewed research articles, technology reviews and specially commissioned case studies. Each issue includes high quality content covering all aspects of robotic technology, and reflecting the most interesting and strategically important research and development activities from around the world. The journal’s policy of not publishing work that has only been tested in simulation means that only the very best and most practical research articles are included. This ensures that the material that is published has real relevance and value for commercial manufacturing and research organizations. Industrial Robot''s coverage includes, but is not restricted to: Automatic assembly Flexible manufacturing Programming optimisation Simulation and offline programming Service robots Autonomous robots Swarm intelligence Humanoid robots Prosthetics and exoskeletons Machine intelligence Military robots Underwater and aerial robots Cooperative robots Flexible grippers and tactile sensing Robot vision Teleoperation Mobile robots Search and rescue robots Robot welding Collision avoidance Robotic machining Surgical robots Call for Papers 2020 AI for Autonomous Unmanned Systems Agricultural Robot Brain-Computer Interfaces for Human-Robot Interaction Cooperative Robots Robots for Environmental Monitoring Rehabilitation Robots Wearable Robotics/Exoskeletons.
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