Wheeled mobile robots are prone to wheel slippage on soft and complex terrains,which affects trajectory tracking accuracy. To improve the trajectory tracking accuracy of robots under such conditions,an adaptive slip compensation controller (ASCC) based on fault-tolerant control (FTC) is proposed. Firstly,a kinematic model of a four-wheeled mobile robot (4 WMR) is established by considering wheel slippage rates,and the corresponding trajectory tracking error model is constructed. Then,based on the FTC method,a slippage compensation term is designed. The stability of the ASCC is proven using Lyapunov stability theory,achieving accurate compensation for the velocity error caused by wheel slippage. Finally,experiments under two working conditions are conducted on the 4 WMR. The results show that the designed controller enables the mobile robot to track the desired path under unknown wheel slippage rates,and it exhibits stronger robustness and higher tracking accuracy compared to the conventional controllers.
关键词
轮式移动机器人/松软地形/车轮滑转/轨迹跟踪/容错控制
Key words
wheeled mobile robot/soft terrain/wheel slippage/trajectory tracking/fault-tolerant control(FTC)
维普
万方数据