طراحی کنترل پیش‌بین سینماتیکی و کنترل مقاوم دینامیکی به منظور ردیابی مسیر ربات متحرک چرخ‌دار

محورهای موضوعی : انرژی های تجدیدپذیر

فهیمه کردی ¹ ( دانشکده مهندسی برق- واحد ساوه، دانشگاه آزاد اسلامی، ساوه، ایران )
حمیدرضا رضاعلیخانی ² ( دانشکده مهندسی برق- دانشگاه تفرش، تفرش، ایران )
جواد نیکوکار ³ ( دانشکده مهندسی برق- واحد ساوه، دانشگاه آزاد اسلامی، ساوه، ایران )

تاریخ دریافت : 1401/02/17 تاریخ پذیرش : 1401/06/15 تاریخ انتشار : 1403/06/01

کلید واژه: مدل سینماتیکی و دینامیکی, کنترل مودلغزشی تطبیقی, ردیابی مسیر, ربات متحرک چرخ‌دار, کنترل‌کننده ترکیبی,

چکیده مقاله :

در این مقاله به بررسی یک کنترل‌کننده ترکیبی برای روبات‌های متحرک چرخ‌دار در حضور اغتشاش خارجی و عدم قطعیت پارامتری خواهیم پرداخت. مدل‌های ربات شامل معادلات سینماتیکی و دینامیکی حرکت است. ربات متحرک چرخ‌دار به‌منظور دستیابی به موقعیت‌ نهایی باید به نحوی کنترل گردد که بتواند یک مسیر مرجع را دنبال نماید. در بسیاری از تحقیقات انجام‌ شده معمولاً از یک استراتژی کنترل حرکتی برای ربات متحرک استفاده می‌شود. در این مطالعه، استراتژی کنترل پیشنهادی دارای دو مرحله شامل کنترل سینماتیکی و کنترل دینامیکی است. در این راستا، ابتدا پس از معرفی مدل سینماتیکی ربات، یک کنترل‌کننده پیش‌بین برای این قسمت طراحی و اثبات خواهد شد. سپس، بر اساس مدل دینامیکی غیرخطی ربات، یک کنترل‌کننده دینامیکی مود لغزشی تطبیقی معرفی می‌شود تا اغتشاشات را به‌صورت آنلاین تخمین زده، بهره کنترل را به‌طور خودکار تنظیم و پدیده‌ چترینگ را به‌طور کامل حذف نماید. در ادامه، تجزیه‌ و تحلیل و اثبات طرح پیشنهادی با استفاده از نظریه پایداری لیاپانوف انجام شده است. بر اساس قانون کنترل تطبیقی پیشنهادی، همگرایی بهینه و عملکرد ردیابی همه سیگنال‌ها تضمین شده و خطاهای ردیابی می‌توانند به‌طور دلخواه در زمان محدود به مبدأ همگرا شوند. نتایج شبیه‌سازی برای نشان دادن اثربخشی طرح پیشنهادی با استفاده از نرم‌افزار متلب انجام شده است.

چکیده انگلیسی:

In this paper, we investigate a hybrid controller for wheeled mobile robots in the presence of external disturbances and parametric uncertainty. Robot models include kinematic and dynamic equations of motion. In this paper, in order to reach the final position, the wheeled moving robot must be controlled in such a way that it can follow a reference path. Many studies often use a motion control strategy for the wheeled mobile robot. In this study, the proposed control strategy has two stages including cinematic control and dynamic control. In this regard, first after introducing the kinematic model of the robot, we design a predictive controller for this part and prove it. Then, based on the nonlinear dynamic dynamics of the robot, an adaptive sliding mode dynamic controller is introduced to estimate the disturbances online, automatically adjust the gain of the control and eliminate the umbrella phenomenon completely. Then, the proposed design is analyzed and proved using Lyapanov's theory of stability. According to the proposed adaptive control law, optimal convergence and tracking performance of all signals are guaranteed and tracking errors can converge arbitrarily in finite time to the source. Simulation results have been performed to show the effectiveness of the proposed design using Matlab software.

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