非线性无人地面全地形车滑模控制

2015 International Conference on Trends in Automation, Communications and Computing Technology (I-TACT-15) Pub Date : 2015-12-01 DOI:10.1109/ITACT.2015.7492689

Piyush N. Dave, K. Sawant, Seema B Kawale

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引用次数: 1

摘要

无人驾驶地面全地形车(UGATV)是一种不需要人工干预就能在任何地面(地形)表面上移动的机械化设备。它在本质上是自主的，它应该能够在各种各样的地形和操作条件下操作。因此，对UGATV进行鲁棒精确控制是UGATV设计的基本要求。本文建立了UGATV直线运动和转弯运动的非线性数学模型，并在MATLAB环境下实现了UGATV的各个子系统。然后通过线性化得到了UGATV的传递函数模型。利用该线性化传递函数模型，设计了恒速率趋近律(CRRL)滑模控制器、恒速率+提议速率趋近律(CRPRRL)滑模控制器(指数趋近律)、功率速率趋近律(PRRL)滑模控制器，并将其应用于UGATV的非线性模型。给出了各种暂态条件和扰动水平的仿真结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Sliding mode control of nonlinear unmanned ground all terrain vehicle

An unmanned ground all terrain vehicle (UGATV) is mechanized equipment that moves across the any surface of the ground (terrain) without intervention of human. It is autonomous in nature and it should be capable of operating over a wide variety of terrain, operating conditions. Hence robust and precise control of UGATV is basic requirement while designing. In this paper, nonlinear mathematical model of UGATV for straight and turning motion is presented and is implemented in MATLAB environment with various subsystems. Thereafter transfer function model of UGATV is obtained by linearizing. Using this linearized transfer function model, Constant rate reaching law (CRRL) Sliding mode controller, Constant rate plus Propositional rate reaching Law (CRPRRL) Sliding mode controller (Exponential reaching law), Power rate reaching Law (PRRL) Sliding mode controller are designed and applied to nonlinear model of UGATV. Simulation results are generated for various transient conditions and disturbance levels.

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来源期刊

2015 International Conference on Trends in Automation, Communications and Computing Technology (I-TACT-15)

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