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(
(
2 2
2 2
2 2
2 2
2 2
2 2
( ) ( )
4 4
( ) ( )
4 4
w
w
r r
mb I I mb I
b b
M
r r
mb I mb I I
b b
(
+ +
(
( =
(
+ +
(
2
2
0
2
0
2
c
c
r
m d
b
V
r
m d
b
|
|
(
(
( =
(
(
1 0
0 1
B
(
=
(
Mment xon trn ng c
| | ,
T
r l
t t t =
, trong
,
r l
t t
tng ng l mment xon bnh
xe bn phi v bn tri. Vi:
w
2
c
m m m = +
,
2 2
w
2 2
c c m
I m d m b I I = + + +
b. ng dng iu khin thch nghi cho m hnh ng hc
Chng ta s thit k mt b iu khin thch nghi cho m hnh ng hc (9) c hiu
chnh. [5]
1
2
cos cos
2 2
sin sin
2 2
2 2
1 0
0 1
r
l
r r
x
r r
y
v
d
r r
v dx
b b
| |
| |
|
u
u
(
(
(
(
(
(
(
(
(
( =
(
(
(
(
(
(
(
(
(
(
(11)
Trong
1
v v
2
v biu din vn tc gc ca bnh xe bn phi v bn tri. Chng ta ch
tp trung trn 3 gi tr , , x y | , khng quan tm n
r
u v
l
u . Mi lin h gia , w v v cc vn
tc gc ca hai bnh xe nh sau:
1
2
1
1 w
b
v v
r r
v b
r r
(
(
( (
=
(
( (
(
(
(12)
Trong v l vn tc di v wl vn tc gc ca robot ti im P
0
.
Thay (12) vo (11), chng ta c dng chun tc ca m hnh ng hc robot 2 bnh:
5
0
sin 0
w
0 1
x cos
v
d
y
dt
|
|
|
( (
(
( (
=
(
( (
( (
(13)
C nhiu phng thc thit k khc nhau cho h thng ny c xut. Tuy nhin
phng thc ca chng ta da trn. [5]
Hnh 2: V tr tht v tham chiu ca robot
Phng trnh ng hc ca mc tiu di ng ca robot nh sau:
os 0
sin 0
w
0 1
r r
r
r r
r
r
x c
v
d
y
dt
|
|
|
( (
(
( (
=
(
( (
( (
(14)
Trong , , v l gi tr mong mun biu din v tr robot; v l tn hiu
tham kho u vo ca robot.
nh ngha cc sai s nh sau:
cos cos
sin sin
r r r
r r r
x x v v
y y v v
=
Sai s ng hc:
1 3 2
2 3 1
2
cos
sin
r
r
r
e v v e e
e v e e
e
e
e
e e
= + +
Chn hm Lyapunov nh sau:
( )
2 2 2 3
0 1 2
1 1
sin
2 2
e
V e e
K
| |
= + +
|
\ .
(15)
(vi K l mt hng s dng)
o hm
0
V ta c:
3
0 1 1 2 2 3
sin
e
e
V e e e e e
K
= + +
6
3 3
0 1 1 3 2 3
sin sin
. . cos . sin
r
r r
e e
V v e v e e v e e
K K
e e
= + + +
Nu ta chn :
3 1
2 3
cos .
( . sin )
r
r r
v v e K e
K v e e e e
= +
= + +
th cc sai s
1, 2 3
, e e e hi t v khng khi thi gian t
tin ra v cng. Th vo hm V ta c:
2 2
0 2 3
sin V Ke e = s 0
Vy b iu khin c thit k trn p ng c yu cu t ra.
2.3 Kt qu m phng.
Tin hnh m phng trn my tnh bng phn mm Matlab h ng lc hc ca robot di
ng hai bnh bng cch dng b iu khin p ng qu o c thit k trn . Cc
thng s chn nh sau:
1 2 3
2, 0.75, 0.3, 0.15, 30, 1, 15.625,
0.005, 0.0025, 5, 5
c w c
w m d
a b d r m m I
I I K K K k
= = = = = = =
= = = = = = = =
Hnh 3: V tr tht v mc tiu ca robot Hnh 4: p ng vn tc ca bnh tri v phi
Hnh 5: Sai s qu o e1,e2,e3
7
III. KT LUN
Chng ta a ra c phng php iu khin p ng qu o cho robot di ng vi
nhng tham s khng bit trc. B iu khin ng lc hc cho robot di ng trn c s b
iu khin ng hc c thit k dng p ng backstepping. Tin hnh m phng trn
my tnh bng phn mm Matlab nghin cu trn robot di ng hai bnh cho kt qu tt.
C s cho chng ta tin hnh p dng thc t cho robot di ng khc. Hng pht trin tip
theo s lm m hnh robot tht v a phng php ny vo p dng cho robot di ng.
TI LIU THAM KHO
[1] Y.Kanayama, Y. Kimura, F. Miyazaki, and T. Noguchi, A Sate tracking control method
for nonholonomic mobile robot, in Proc IEEE/RS Int, Wordshop Intelligent Robots and
Systems, 1991, pp 1236-1241.
[2] C. Samson and K.Ait-Abderrahim, Feedback control of a noholonomic wheel cart in
cartesian space, in Proc. IEEE Int. Conf. Robotics and Automation, 1991, pp. 1136-
1141
[3] Y.Nakamura and S.Savant, Nonholonomic motion control of an autonomous underwater
vehicle, in Pro. IEEE/RSJ Int. Workshop Inteligent Robots and Systems, 1991, pp 1254-
1259.
[4] R.Fierro and F.L.Lewis, Control of a nonholonomic mobile robot: backstepping
kinematics into dynamics, in Pro. 34
th
IEEE Conf.Decision Control, 1995, pp.3805-
3810.
[5] Y.Knayama, Y. Kimura, F. Miyazaki, and T. Noguchi, A stable tracking control method
for an autonomous mobile robot, in Proc. IEEE Int. Conf. Robotics and Automation,
1990, pp. 384-389.