XUT CI TIN THUT TON IU KHIN THCH NGHI THEO

M HNH MU CHO BI TON BM MC TIU DI NG CA I

TNG ROBOT PHI HOLONOM DI NG C THAM S HNG BT
NH
Tm tt
B iu khin ng lc hc ca rbt 2 bnh
song song c li so lch th lun l ti nng.
M hnh ng lc hc th c kt hp bi 2
phn ni tip; phng trnh ng hc v phng
trnh moomen tnh tin v momen gc. Bi vic
chuyn i cng thc tnh sai s ng ca m
hnh ng hc sang h ta di ng, bi ton
bm tr thnh bi ton n nh. B iu khin
c thit k lm 2 phn ni tip. Trong phn
u vic n nh ng hc c lm bi lut
iu khin phi tuyn, trong phn th 2 mt b
iu khin gia tc c s dng lm n nh
theo Hm M vn tc tnh tin v vn tc gc.
bt nh trong cc tham s ca m hnh ng
lc hc (khi lng v momen qun tnh)
c b bi b iu khin thch nghi theo m
hinh mu. Thuc tnh c trng ca b iu
khin ny l khng ch l tnh bn vng ca
hiu qu hm Lyapunov tng thch ,tnh n
nh tim cn ca cc trc s c mt ca cc
thnh phn bt nh m cn l s n gin trong
cu trc v cht lng n nh hn so vi bi bo
gc[] . Kt qu m phng minh ha cht lng
v hiu qu ca gii php ny.
1. Gii thiu
Dng robot c kho st trong nghin cu ny
l mt loi h thng c hc phi-holonom n
gin. Nhiu kho st v h thng iu khin phi
holonom c su tm trong cc thp k
trc [1,2,3,4,5,6]. Vi nghin cu trong s
chng ch a ra kt qu di dng bo co,thm
ch cho mt trng hp n gin,nhng quan
trng c a ra l robot di ng gn bnh xe.
Cc thuc tnh phi-holonom c thy trong
nhiu h thng robot v c hc ,c bit l chng
s dng u vo vn tc. Khng gian iu khin
nh hn khn gian cu hnh(t tn hiu iu khin
hn so vi cc bin c iu khin c lp) gy
nn iu kin cho tnh iu khin c ca
nhng h thng ny. Bi vy qu o kh thi b
gii hn. iu ny c ngha l mt robot
di ng c bnh xe song song khng th
di chuyn ngang.
M hnh ng hc ca robot di ng c bnh xe
song song khng thnh cng khi
p ng iu kin cn thit n nh phn hi
ca Brockett(Brockett 1983). iu ny ng
rng khng tn ti mt lut phn hi trng thi
tnh bt bin trn v lin tc theo thi gian. iu
khin bm s dng trc tip gii php
Lyapunov[7], phn hi trng thi bin thi
gian[8], v nhiu gii php c bn khc c
thit k da trn nn tng m hnh ng hc[12].
n nh v kim sot h thng nonholonomic vi
phng trnh ng lc c xem xt trong
[1], cc phng php da trn backstepping c
trnh by trong mt s bi bo [9,10,11] .. Gn
y cc phng php thch nghi c s dng
b li nh hng ca s bt nh trong m hnh
ng lc[3,4]. Chng c thit k di dng
cc chui v c cc phng trnh phc tp.Hn
na ,hiu qu ca cc gii php vi s c mt
ca cc thnh phn bt nh khng c so
snh vi cc b iu khin khng-thch nghi n
gin. Tnh n nh c kho st trong nhiu bi
bo nhng khng c gii php no i thng vo
vn bm qu o v o c sai lch bm. Bi
vy cc b iu khin n gin li tr nn thng
dng[7,12].
Trong kho st ny nh hng ca cc tham s
bt nh ln cht lng h thng c nhc ti.
N th hin rng cc gii php c ngh da
trn iu khin thch nghi c th gi cht lng
h thng trc s thay i ca cc tham s khi
lng v m men qun tnh ca robot. Ngoi s
n gin c bit ca b iu khin c xut
dn n kh nng iu chnh cc thng s t
c hiu qu mong mun bao gm bm sai lch
v iu khin tn hiu. Cc thuc tnh c bit
thu c bi b iu khin ng lc ny. M
hnh ng lc c chia thnh hai phn lin
tip.Bng cch s dng cc cu trc iu khin n gin
cho mi phn, nh hng ca cc tham
s bt nh c kho st. Vi b iu khin thch
nghi m hnh mu cho nhng phn bt nh ca
phng trnh, tnh n nh v bn vng ca m
hnh c tha mn. Bi bo bao gm 7 phn, sau
phn gii thiu, trong phn th 2, m hnh ng
lc v php chuyn i n sang cu trc mong
mun c a ra. Phn 3 m t mt gii php
iu khin phi tuyn da trn Lyapunov n
nh tim cn phng trnh ng hc. Trong phn
4, cu trc tng th ca b iu khin ng lc
c ch n. Phn 5 lm vic vi cc nh
hng ca cc tham s bt nh v trnh by lut
iu khin thch nghi theo m hnh mu. Cc kt
qu m phng c trnh by trong phn 6 v
phn cui cha nhng nhn xt tm tt.
2. M hnh ng lc hc r bt di ng:
Mt lp rng cc h thnga c phi h-l-nm
c m t bi dng cng thc ng lc hc sau
da trn cng thc Euler-Lagrange[1]:
( ) ( , ) ( ) ( ) ( )
T
M q q C q q q G q B q J q + + + && &&
(1)
Vi iu kin rang buc phi h-l-nm l :
( ) 0 J q q &
(2)
Trong :
q l vector n chiu ng vi n cc bin
khp.
M(q) l ma trn i xng xc nh dng
c n x n
( , ) C q q q &&
l thnh phn mmen nht v
hng tm.
G(q) l n vect mmen trng lc.
B(q) l ma trn chuyn i u vo c n x
r (r<n)

l vec t u vo r chiu
l tch s lc rng buc Lagrange.
Mt cu trc r bt di ng li so lch n
gin c cho bi hnh 1.Hai ng c mt chiu
tng t c lp l cc c cu chp hnh ca cc
bnh li tri v phi,trong khi mt hoc hai
bnh li con ln t do gi r bt cn bng trn
mt phng.
Hnh 1:Phi cnh ca r bt di
ng
Vect v tr ca r bt trn b mt l
( , , )
T
q x y
x v y l cc ta ca im C(trung im
ca trc ni 2 bnh)v l gc nh
hng ca r bt trong h quy chiu qun
tnh. Khi c th vit c cng thc
ng lc hc ca r bt di ng thng qua
cng thc (1),s dng iu kin G(q) v
( , ) C q q q &&
bng 0.
1
2
0 0 os os sin
1
0 0 sin sin os
0 0 0
m x c c
m y c
R
I L L

] | ` ] ]
]
] ] ]
+
]
] ] ]
]

] ] ]
] . , ] ]
&&
&&
&&

Trong :
1

v
2

ln lt l m men ca
ng c tri v ng c phi.
m v I th hin khi lng vm men
tng ng ca r bt.
R l bn knh ca bnh li v L l mt na
ca khong cch gia 2 bnh li ng sau.
Rng buc phi h l nm-iu kin khng trt-th
c vit di dng cng thc (2):
sin os 0 x yc & &
Cng thc ny cha y ,bi vy qu o kh thi
b gii hn.
Gi thit
1 2
1
( )
l
R
+ v
1 2
1
( )
a
R

.Cng thc (3) tr thnh
os sin
l
x c
m m

+ &&
sin os
l
y c
m m

&&
(5)
a
I

&&
Trong
l

v
a

l m men tnh tin v m men

quay tng ng. t c dng bnh thng
,php chuyn i sau y c s dng
( )
w
v
q g q
]

]
]
&
(6)
Trong :
os 0
( ) sin 0
0 1
c
g q

]
]

]
]
]
Vi phn cng thc (6):
( ) ( )
w w
v v
q g q g q
] ]
+
] ]
] ]
&
&& &
&
(7)
Bi vy:
sin os x v vc +
&
&& &
os sin y v c v +
&
&& & (8)
w
&&
&
So snh v tri ca phng trnh ny (
q&&
) vi
phng trnh (5),ta c th vit:
os sin
l
c
m m

+ = sin os v vc +
&
&
sin os
l
c
m m

= os sin v c v +
&
& (9)
a
I

=w&
Nhn dng u ca phng trnh (9) vi
os c v dng th hai vi sin v cng li
ta c:
v&=
l
m

, w&=
a
I

(10)
Trong v v w l vn tc di v vn tc gc
ca Ro bt. Phn khc ca dng thng thng th
c vit da trn phng trnh (6):
cos x v &
sin y v &
(11)
w
&
y l nhng phng trnh ca m hnh ng
hc. im ny,phng trnh ng lc hc ca r
bt di ng c chuyn ti cc phn lin tip ca
cc phng trnh (11) v (10). Tch ring m hnh
ng hc t cc phng trnh ng lc hc, ta c
th s dng b iu khin ng hc phi tuyn
n nh cc bin ca h. iu khin bm r bt di
ng n gin thnh vn iu khin cc bin sai
lch trong m hnh ng hc. Mt phn nh hng
bi ton l nh ngha qu o bm nh l cc bin
thi gian c xc nh bi vect ( )
T
r r r r
q x y
.Qu o ny nn tha mn khng ch cc phng
trnh ng hc m cn c cc iu kin rng buc
phi h l nm:
cos
r r r
x v &
,
sin
r r r
y v &
, w
r r

&
(12)
sin os
r r r r
x y c & &
Sai s ng lc hc th c vit c lp so vi h
quy chiu qun tnh bi php chuyn i
Kanayama[7]:
os sin 0
sin os 0
0 0 1
e r
e r
e r
x c x x
y c y y



] ] ]
] ] ]

] ] ]
] ] ]
] ] ]
(13)
( , , )
e e e
x y
l cc bin sai s trong h quy chiu di
ng gn trn robot.o hm v tri ca (13) v s
dng cng thc (11)(12)v(4)th sai s ng lc hc
c vit trong h ta mi:
os 1
sin 0
w 0 1
e r e e
e r e e
e r
x v c y
v
y v x
w

] ] ]
]
] ] ]
+
]
] ] ]
]
] ] ]
] ] ]
&
&
&
(14)
( )
T
v w l vec t iu khin ca m hnh ng hc.
gn lut iu khin trong phn sau,cc bin v v
w s c vit li l
d
v
v
d
w
phn bit chng
vi cc vn tc tnh tin v vn tc gc thc t o
c. Ch rng
d
v
v
d
w
l cc vn tc mong
mun lm n nh ng hc. B iu khin ng
lc hc c thit k da trn cng thc (10) v
(14) trong
e
x
,
e
y
v
e

l cc bin trng thi,

l

v
a

l cc tn hiu iu khin.
3. B iu khin ng hc phi tuyn
Cc b iu khin phi tuyn thit k bi hm
Lyapunov l nhng gii php n gin nht nhng
cng thnh cng nht trong vic n nh ng hc,
mt gii php suy din c cn nhc da trn [7].
Hm Lyapunov suy din l:
2 2
1
( ) (1 cos )
2
e e e
V x y + + (15)

o hm theo thi gian (15) tr thnh:
cos sin sin sin
r e e d e r e e r e d
V v x v x v y w w + +
&
( cos ) sin ( )
r e d e e r e r d
V v v x v y w w + +
&
(16)

d
v
v
d
w
c chn nh sau khin V
&
xc
nh m
cos
d r e x e
v v k x
(17)
sin
d r r e e
w w v y k

+ +
Thay cng thc (17) vo (16):
2 2
sin
x e r e
V k x v k

&
(18)
R rng ch l bn xc nh m.
S dng nh l LaSalle ,s hi t ca v 0
c tha mn, bi vy h thng kn n nh tim
cn ton cc. Thay i trong cng thc (17)
bi:
sin
d r r y e e
w w v k y k

+ +
(19)
Cc trng s ca bin sai lch s l
( , , )
x y
k k k

Tnh n nh tim cn ca h thng kn c th

c chng minh bi hm Lyapunov sau:
2 2
1
( ) (1 cos ) /
2
e e e y
V x y k + +
y
k
>0 (20)
Mt b iu khin n gin v tho lun v nh
hng ca cc tham s c trnh by trong (12).
4.Cu trc iu khin cho m hnh ng lc:
u ra ca b iu khin phi tuyn trong phn
trc l cc vn tc tnh tin v vn tc quay
mong mun nhm n nh ng hc. Nhng gi
tr ny chnh l nhng u vo gi tr t cho phn
sau ca b iu khin ng lc hc. S khi
ca cu trc ny c th hin trong hnh 2.
Hnh 2:S khi ca b iu khin ng lc hc
r bt di ng
Trong phn ny, lut iu khin sau c s dng
chun b cho vic bm gi tr v :
( )
l d l d
mv k v v + &
(21)
( )
a d a d
Iw k w w + &
Trong
l
k
v
a
k
l 2 tham s iu khin
dng. Sai lch ca vn tc tnh tin c nh
ngha:
e d
v v v
(22)
o hm cng thc trn v s dng (10), mt
m hnh (mu)ng lc hc vng kn ca vn
tc tuyn tnh nhn c:
( ) 0
l l l
e d d d e e
k k
v v v v v v v v
m m m

+ & & & & &

(23)
Tng t vi vn tc gc ta c:

0
a
e e
k
w w
I
+ &
(24)
ng nhin s hi t theo hm m ca v v w
ti gi tr t th c tha mn.
5. B iu khin thch nghi theo m hnh
mu
Trong cu trc iu khin phn trc gi tr
ca m v I coi nh l bit. Trong thc t,
khng ch php o ca cc tham s ny cha
nhng thnh phn bt nh,m gi tr ca chng
cn thay i trong mt khong rng trong hu
ht cc ng dng. Bi vy lut iu khin nn
c vit li di dng sau:

( )
l d l d
mv k v v + &
(25)

( )
a d a d
Iw k w w + &
Sai s gia m v
m , I v

I
nh hng n tc
hi t v c th gy nn nhng dao ng
khng mong mun c bit l trong h thng x
l s ca b iu khin. Nhm lm gim s nh
hng ny, lut iu khin thch nghi tng ng
c a ra trong phn ny. Cc cng thc
c vit c th cho vn tc tnh tin. Vic thc
hin cho vn tc gc cng tng t nh vy.
Thay cng thc (10) vo cng thc (25) phng
trnh vng kn ca cc vn tc c a ra:
( )
d l d
mv mv k v v + & &
(26)

( )
d a d
Iw Iw k w w + & &
Trong h thng thch nghi, cc tham s ca
b iu khin vn tc tnh tin c nh
ngha l
2
l
k
m

,
1
m
m

. Bi vy phng
trnh (26) c th c vit di dng sau:

1 2
( )
d d
v v v v + & &
(27)
M hnh mu cho sai s vn tc l:
0
e e
v Tv + &
T>0 (28)
Trong T l hng s thi gian tt dn ca
sai s m nn c chnh nh bng tay da
trn mt vi tham s; chng hn s gii hn
ca c cu chp hnh, tc hi t ca b
iu khin ng hc phi tuyn [12] v trong
mt h thng trch mu , n phi ln hn t
nht 4 ln hng s thi gian trch mu.
Phng trnh (28) c vit theo dng ca
phng trnh (27) s dng
( )
e d m
v v v
:

m d d m
v v Tv Tv + & &
(29)
Sai s thch nghi l hiu gia v v vn tc
ca m hnh mu
( ) :
m m
v e v v
:
o hm theo thi gian ca e cho ra sai s
ng lc hc:
1 2 2
m
d d d d m
dv de dv
v v v v Tv Tv
dt dt dt
+ + & &
1 2 2
( 1) ( ) ( )
d d
de
Te v T v T v
dt
+ + &
(30)
Hm Lyapunov suy din sau th c hng
dn bi l thuyt H Thng Thch Nghi Theo
M Hnh Mu:
2 2 2
1 2
1 2
1 1 1
( 1) ( )
2
V e T

+ +
;

1

,
2

>0 (31)
o hm ca n th nhn c bi thay e&
t
phng trnh (30):
2 1 2
1 2
1 2
1 1
( 1) ( )
d d
d d
V T e e v T e v e v
d t d t



] ]
+ + + +
] ]
] ]
&
&
(32)
Lut thch nghi c nh ngha bi
vic lm tha s th 2 v th 3 bng 0
khin xc nh m:
1
1 1 1
0

t
d d
d
ev ev dt
dt

& &
(33)
2
2 2 2
0
( ) ( )
t
d d
d
e v v e v v dt
dt

(34)
Tng t vi vn tc gc:
3
3
'
d
d
e w
dt

&
,
4
4
'( )
d
d
e w w
dt

(35)
Cc tham s
1 2 3 4
( , , , )
s c
chnh nh h t c cht lng
mong mun.
6. Kt qu m phng
Phn ny minh ha cht lng ca b iu
khin c a ra, vi s c mt ca cc thnh
phn bt nh. Cc tham s c iu chnh
so snh kt qu vi cc b iu khin ca [4] v
[10]. Cc gi tr bnh thng ca khi lng v
m men qun tnh tng ng l 1 v 0.5, cc
tham s ca b iu khin trong phng trnh
(17) v (19) th n gin c t l:
5
x y
k k k

, v cc h s khuych i thch
nghi
1 3
0.1
v
2 4
10
c s dng.
Hnh 3 th hin s hi t ca cc bin sai lch
bm.
Hnh 3: (a)Hi t ca cc bin sai lch
(b)Vn tc tnh tin v vn tc quay
ca r bt di ng.
Hiu qu ca b iu khin ny vi s tn ti
cc thnh phn bt nh c th hin t hnh
4 n 6. Cc iu kin u c t l
x(0)=1 , y(0)=1 , . Trong hnh 4, cc
tham s c t bng gi tr thng. Tt c
cc bin sai lch hi t v 0 trong 3s. Trong
hnh 5 cc gi tr bnh thng c thay i
thnh m=4 v I=2 .N c th c to nn khi
robot mun mang mt i tng. Hnh v th
hin s giao ng ca b iu khin khng
thch nghi ko di hn 10s. Trong trng thi
ny b iu khin thch nghi lm vic hon
ho (hnh 6) . Cc bin sai lch tr v 0 trong
khong 4s. Hnh 7 th hin s hi t ca cc
tham s iu khin thch nghi.
Hnh 4. S hi t ca cc bin sai lch trong
mt h thng iu khin n gin vi cc
tham s bnh thng ca m v I
Hnh 5. Th hin ca h thng iu khin
khng thch nghi khi cc tham s m v I khc
cc gi tr thng.
Hnh 6. Th hin ca h thng iu
khin thch nghi khi cc tham s m v I
khc cc gi tr thng.
Hnh 7 . S hi t ca cc tham s chnh nh
ca b iu khin theo m hnh mu.
7. Kt lun
Vi mc ch lc ra bt nh ca (cu
trc)m hnh trn s th hin ca h thng iu
khin robot di ng ,m hnh ng lc hc l
tng c s dng. Cc c tnh chnh ca
b iu khin c a ra l bn vng
ca hiu qu chng li s thay i tham s khi
lng v m men qun tnh ca robot.
B iu khin c thit k chia lm 2
phn ,phn 1 l b iu khin ng hc
phi tuyn v phn kia l b iu khin
thch nghi theo m hnh mu p
ng vic bm theo cc gi tr vn tc
tnh tin v vn tc quay mong mun.
Cc lut iu khin n gin v tng
minh dn n s n gin trong vic
iu chnh cc tham s t c
hiu qu mong mun bao gm bm sai s v
iu khin cc tn hiu. n nh ca h
thng c tha mn bi vic la chn hm
Lyapunov tng thch. Kt qu m phng
th hin c tnh bn vng v hiu qu ca
gii php ny.
Ti liu tham kho:
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McClamorch. Control
and stabilization of nonholonomic dynamic
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Tran. On Automatic Control, 37, 11, pp.
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velocity
constraints: a singular perturbation approach,
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