不確定輪式移動機(jī)器人抗飽和跟蹤與鎮(zhèn)定統(tǒng)一控制不確定輪式移動機(jī)器人抗飽和跟蹤與鎮(zhèn)定統(tǒng)一控制

摘要：針對輪式移動機(jī)器人在運(yùn)動中容易出現(xiàn)抗飽和和不確定性等問題，本文提出了一種抗飽和跟蹤與鎮(zhèn)定統(tǒng)一控制方法。該方法首先建立了帶有不確定性的輪式移動機(jī)器人運(yùn)動模型，并利用模糊PID控制器進(jìn)行路徑跟蹤控制，保證了機(jī)器人在運(yùn)動過程中的性能穩(wěn)定性。其次，通過模糊自適應(yīng)控制器對系統(tǒng)的不確定性進(jìn)行估計(jì)和補(bǔ)償，避免了抗飽和現(xiàn)象的發(fā)生。最后，利用狀態(tài)反饋控制器和LMI方法設(shè)計(jì)了鎮(zhèn)定控制器，使得系統(tǒng)能夠在遇到干擾或者測量誤差時(shí)迅速恢復(fù)到穩(wěn)態(tài)。仿真結(jié)果表明，本文提出的方法在抗飽和和鎮(zhèn)定控制方面均具有較好的性能。

關(guān)鍵詞：不確定性；抗飽和；輪式移動機(jī)器人；模糊PID控制器；模糊自適應(yīng)控制器；狀態(tài)反饋控制器；LMI方法。

Abstract:Inviewoftheproblemsofanti-saturationanduncertaintyinthemotionofwheeledmobilerobots,thispaperproposesaunifiedcontrolmethodforanti-saturationtrackingandstabilization.Firstly,awheeledmobilerobotmotionmodelwithuncertaintyisestablished,andthefuzzyPIDcontrollerisusedforpathtrackingcontroltoensuretheperformancestabilityoftherobotduringmotion.Secondly,thefuzzyadaptivecontrollerisusedtoestimateandcompensatefortheuncertaintyofthesystem,avoidingtheoccurrenceofanti-saturationphenomenon.Finally,thestabilizationcontrollerisdesignedusingthestatefeedbackcontrollerandLMImethodtoenablethesystemtoquicklyrecovertosteadystatewhenencounteringdisturbancesormeasurementerrors.Simulationresultsshowthattheproposedmethodhasgoodperformanceinanti-saturationandstabilizationcontrol.

Keywords:uncertainty;anti-saturation;wheeledmobilerobot;fuzzyPIDcontroller;fuzzyadaptivecontroller;statefeedbackcontroller;LMImethod。Inrecentyears,wheeledmobilerobotshavebecomeincreasinglypopularduetotheirversatilityandabilitytomoveinvarioustypesofenvironments.However,theserobotsoftenencounteruncertaintiesthatcanaffecttheirperformance,suchasfriction,torque,andmeasurementerrors.Toimprovetherobustnessandstabilityofwheeledmobilerobots,differentcontrolstrategieshavebeenproposed.

Onecommonprobleminwheeledmobilerobotsisanti-saturation,whichoccurswhenthecontrolsignalreachesitsmaximumorminimumlimit,causingtherobottolosestability.Toaddressthisissue,afuzzyPIDcontrollerhasbeenproposedtoadjustthecontrolsignalandpreventanti-saturation.ThiscontrollerusesfuzzylogictoadjustthePIDparametersbasedontheerroranditsrateofchange,aswellasthecontrolsignalmagnitude.Simulationresultshaveshownthatthiscontrollercaneffectivelypreventanti-saturationandimprovethecontrolperformanceofwheeledmobilerobots.

Anotherapproachtodealingwithuncertaintiesisthefuzzyadaptivecontroller.Thismethodusesfuzzylogictoadjustthecontrollerparametersbasedonthecurrentstateandtheerrorbetweenthedesiredandactualoutput.ThefuzzyrulesarederivedfromasetofIF-THENstatementsthatrelatetheinputandoutputvariables.Theadaptivemechanismallowsthesystemtoadjustitsparametersinreal-time,takingintoaccountthechangesinthesystemdynamicsduetouncertainties.Thesimulationresultshavedemonstratedthatthefuzzyadaptivecontrollercanimprovetherobustnessandstabilityofthewheeledmobilerobot,evenunderuncertainconditions.

Inadditiontothefuzzycontrolmethods,astatefeedbackcontrollerhasalsobeenproposedforwheeledmobilerobots.Thismethodusestherobot'sstatevariables,suchasposition,velocity,andacceleration,todesignacontrollawthatcanstabilizethesystem.Toensurethatthesystemisrobusttouncertainties,thelinearmatrixinequality(LMI)methodisusedtodesignthecontroller.TheLMImethodprovidesconditionsforthecontrollergainmatrixtosatisfystability,performance,androbustnessconstraints.Simulationresultshaveshownthatthestatefeedbackcontrollercanquicklystabilizethesystemandimproveitsperformanceinthepresenceofdisturbancesandmeasurementerrors.

Inconclusion,wheeledmobilerobotsfacevariousuncertaintiesthatcanaffecttheirperformanceandstability.Therefore,differentcontrolstrategieshavebeenproposedtoaddresstheseissues,includingfuzzyPIDcontrol,fuzzyadaptivecontrol,andstatefeedbackcontrol.Eachofthesemethodshasitsadvantagesanddisadvantages,andthechoiceofcontrollerdependsonthespecificapplicationandsystemrequirements.Furtherresearchisneededtoimprovethecurrentcontrolstrategiesanddevelopnewmethodsthatcanenhancetherobustnessandstabilityofwheeledmobilerobots。Inadditiontothecontrolstrategiesmentionedabove,thereareotherfactorsthatcanaffecttheperformanceandstabilityofwheeledmobilerobots.Onesuchfactoristheenvironmentinwhichtherobotoperates.Forinstance,iftherobotisrequiredtonavigateinanindoorenvironment,itmayfacechallengessuchasunevenfloors,obstacles,andnarrowpassages.

Toaddressthesechallenges,severalnavigationalgorithmshavebeenproposed,includingSimultaneousLocalizationandMapping(SLAM),whichallowstherobottobuildamapofitsenvironmentwhilesimultaneouslydeterminingitsownposition,andCollisionAvoidance,whichenablestherobottodetectandavoidobstaclesinitspath.

Anotherimportantfactorthatcanaffectthestabilityofwheeledmobilerobotsistheweightdistributionoftherobot.Unevenweightdistributioncancausetherobottotiltortipover,particularlywhenturningortraversinguneventerrain.Therefore,itisimportanttodesigntherobotinawaythatdistributestheweightevenlyandprovidessufficientstability.

Moreover,thechoiceofwheelsandtirescanalsoimpactthestabilityandperformanceoftherobot.Forexample,largerwheelswithgreatertractioncanprovidebetterstabilityandmobilityonroughsurfaces,whilesmallerwheelsmaybemoresuitableforindoorenvironmentswithsmoothfloors.

Overall,thedevelopmentofwheeledmobilerobotsrequirescarefulconsiderationofvariousfactorssuchascontrolstrategies,environmentalconditions,weightdistribution,andwheeldesign.Throughcontinuedresearchanddevelopment,itisexpectedthatmoreefficientandrobustwheeledmobilerobotswillbedesignedtomeetarangeofapplicationsandrequirements。Inadditiontothefactorsmentionedabove,thereareseveralotheraspectsthatshouldbetakenintoaccountwhendesigninganddevelopingwheeledmobilerobots.

Oneimportantconsiderationisthepowersource.Wheeledmobilerobotscanbepoweredbyvarioussources,includingbatteries,fuelcells,andsolarpanels.Thechoiceofpowersourcecanaffecttherobot'sperformance,weight,andcost.Forexample,batteriesareacommonchoiceforindoorrobotsastheyarelightweightandcanprovidesufficientpowerforshortruns.However,foroutdoorrobotsthatrequirelongerruntimes,fuelcellsorsolarpanelsmaybemoreappropriate.

Anotheraspecttoconsideristherobot'ssensorsandfeedbacksystem.Sensorsareusedtocollectdataabouttherobot'senvironmentandprovidefeedbacktocontrolalgorithms.Thisinformationisessentialforenablingtherobottonavigateautonomouslyandavoidobstacles.Commontypesofsensorsusedinwheeledmobilerobotsincludeultrasound,infrared,andlaserrangefinders,aswellascamerasandmicrophones.

Thecontrolsystemisalsoacriticalcomponentofwheeledmobilerobots.Thecontrolsystemreceivesdatafromtherobot'ssensorsandusesittomakedecisionsabouttherobot'smovements.Itisresponsiblefortaskssuchaspathplanning,obstacleavoidance,andlocalization.Therearevariouscontrolalgorithmsthatcanbeusedforwheeledmobilerobots,includingproportional-integral-derivative(PID)control,fuzzylogic,andneuralnetworks.

Finally,thereareseveralchallengesassociatedwithdevelopingwheeledmobilerobots.Onesignificantchallengeismaintainingstabilityandbalancewhiletherobotisinmotion.Thisisespeciallyimportantforrobotsthatoperateonroughterrainorinclines.Anotherchallengeistheintegrationofmultiplecomponentsandsystems,includingthepowersource,sensors,controlsystem,andcommunicationdevices.

Inconclusion,wheeledmobilerobotshavenumerousapplicationsinvariousfields,includingmanufacturing,agriculture,andhealthcare.Thedesignanddevelopmentoftheserobotsrequirecarefulconsiderationofseveralfactors,includingcontrolstrategies,environmentalconditions,powersources,sensorsandfeedbacksystems,andcontrolalgorithms.Byaddressingthesechallenges,engineerscandesignwheeledmobilerobotsthatareefficient,robust,andversatile。Oneareawherewheeledmobilerobotshavethepotentialtomakeasignificantimpactisinthefieldoflogisticsandtransportation.Withthegrowthofe-commerceandonlineshopping,thereisagreaterdemandforcost-efficientandtime-sensitivedeliveryservices.Autonomousdeliveryrobotscanbeusedtotransportsmallpackagesandgoodsovershortdistances,suchasfromalocaldistributioncentertoacustomer'sdoorstep.

Inaddition,wheeledmobilerobotscanalsobeutilizedinthefieldofminingandexploration.Theserobotscanbeusedfortaskssuchasmappingandsurveying,aswellasfordrillingandexcavationindangerousorhard-to-reachareas.

Anotherapplicationforwheeledmobilerobotsisinthefieldofdisasterresponseandsearchandrescue.Intheaftermathofanaturaldisaster,suchasanearthquakeorhurricane,itcanbechallengingtolocateandrescuesurvivorswhoaretrappedorinneedofmedicalattention.Autonomousrobotscanbeusedtonavigatetherubbleanddebris,locatesurvivors,andcommunicatewithrescueteams.

Overall,thepotentialapplicationsforwheeledmobilerobotsarevastanddiverse.Astechnologycontinuestoadvance,itislikelythatwewillseeanincreaseintheuseofautonomousrobotsinvariousindustriesandfields.Withcarefuldesignanddevelopment,theserobotshavethepotentialtoimproveefficiency,increasesafety,andreducecostsinawiderangeofapplications。Inadditiontotheapplicationsmentionedabove,wheeledmobilerobotshavethepotentialtorevolutionizeindustriessuchasagriculture,construction,andtransportation.Forexample,inagriculture,autonomousrobotscouldbeusedforprecisioncropmonitoringandmanagement.Theserobotscouldnavigatefieldsandcollectdataoncrophealthandgrowth,aswellasperformtaskssuchasseedplantingandweedcontrol.

Inconstruction,wheeledmobilerobotscouldbeusedfortaskssuchassitesurveyingandinspection,materialtransport,andevenconstructionitself.Autonomousconstructionrobotscouldworkaroundtheclock,increasingefficiencyandreducingtheneedforhumanlaborindangerousorphysicallydemandingtasks.

Inthetransportationindustry,autonomoustrucksanddeliveryvehiclescouldhelptoreducetrafficcongestionandimprovesafetyonourroads.Thesevehiclescouldbeprogrammedtofollowspecificroutesandavoidobstacles,reducingtheriskofaccidentsandincreasingefficiency.

Overall,thepotentialforwheeledmobilerobotstotransformawiderangeofindustriesisimmense.However,therearealsochallengestobeovercome,suchasregulatorybarriersandpublicacceptance.Asthesetechnologiescontinuetodevelopandmature,itwillbeimportanttoaddresstheseissuesinordertofullyrealizethepotentialofautonomousrobots。Inadditiontothechallengesmentionedabove,therearealsoethicalconsiderationstobetakenintoaccountwhenitcomestotheuseofwheeledmobilerobots.Onepotentialconcernisthedisplacementofhumanworkersinindustriesthatcouldpotentiallybeautomatedwithrobots.Whileautomationmayleadtoincreasedefficiencyandproductivity,itcouldalsoleadtojoblossesandincreasedeconomicinequalityifnotproperlymanaged.

Anotherconcernisthepotentialforwheeledmobilerobotstobeusedformilitaryorsurveillancepurposes.Whilerobotscouldpotentiallyreducerisktohumansoldiersincombatsituations,thereareconcernsabouttheethicsofusingmachinestotakehumanlife.Additionally,theuseofrobotsforsurveillancecouldpotentiallyinfringeonprivacyrightsandcivilliberties.

Astheuseofwheeledmobilerobotsbecomesmorewidespread,itwillbeimportanttoaddresstheseethicalconsiderationsinordertoensurethatthesetechnologiesareutilizedinaresponsible