基于位置误差和干扰预测的蛇形机器人轨迹跟踪

IF 15.3 1区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Ieee-Caa Journal of Automatica Sinica Pub Date : 2023-08-15 DOI:10.1109/JAS.2023.123612

Dongfang Li;Yilong Zhang;Ping Li;Rob Law;Zhengrong Xiang;Xin Xu;Limin Zhu;Edmond Q. Wu

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引用次数: 0

摘要

本文提出了一种蛇形机器人的轨迹跟踪控制方法。该方法消除了时变干扰对物体的影响，降低了具有预定轨迹的机器人的偏移误差。优化的视线（LOS）制导策略通过预测位置误差和干扰来驱动机器人的转向角，以保持其抗侧滑能力。然后，系统参数和粘性摩擦系数的预测可以补偿关节扭矩控制输入。补偿是为了增强机器人在不断变化的环境中的兼容性。仿真和实验结果表明，我们的工作可以降低跟踪误差的波动峰值，减少调整时间，提高精度。

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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Position Errors and Interference Prediction-Based Trajectory Tracking for Snake Robots

This work presents a trajectory tracking control method for snake robots. This method eliminates the influence of time-varying interferences on the body and reduces the offset error of a robot with a predetermined trajectory. The optimized line-of-sight (LOS) guidance strategy drives the robot's steering angle to maintain its anti-sideslip ability by predicting position errors and interferences. Then, the predictions of system parameters and viscous friction coefficients can compensate for the joint torque control input. The compensation is adopted to enhance the compatibility of a robot within ever-changing environments. Simulation and experimental outcomes show that our work can decrease the fluctuation peak of the tracking errors, reduce adjustment time, and improve accuracy.

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来源期刊

Ieee-Caa Journal of Automatica Sinica Engineering-Control and Systems Engineering

CiteScore

23.50

自引率

11.00%

发文量

880

期刊介绍： The IEEE/CAA Journal of Automatica Sinica is a reputable journal that publishes high-quality papers in English on original theoretical/experimental research and development in the field of automation. The journal covers a wide range of topics including automatic control, artificial intelligence and intelligent control, systems theory and engineering, pattern recognition and intelligent systems, automation engineering and applications, information processing and information systems, network-based automation, robotics, sensing and measurement, and navigation, guidance, and control. Additionally, the journal is abstracted/indexed in several prominent databases including SCIE (Science Citation Index Expanded), EI (Engineering Index), Inspec, Scopus, SCImago, DBLP, CNKI (China National Knowledge Infrastructure), CSCD (Chinese Science Citation Database), and IEEE Xplore.