论文标题
通过结合滑动模式控制器和模型预测控制器，非虚构球形机器人的方向和轨迹跟踪控制
Direction and Trajectory Tracking Control for Nonholonomic Spherical Robot by Combining Sliding Mode Controller and Model Prediction Controller
论文作者
论文摘要
球形机器人是一种非线性，非体力学和不稳定的系统，它增加了方向和轨迹跟踪问题的难度。在这项研究中，我们提出了一个新的方向控制器HTSMC，指令计划控制器MPC和轨迹跟踪框架MHH。 HTSMC的设计是通过集成快速终端算法，分层方法，球形机器人的运动特征及其动力学设计。此外，新方向控制器具有出色的控制效果，并具有快速的响应速度和强大的稳定性。 MPC可以获取最佳命令，然后将其传输到速度和方向控制器。由于MHH中的两个扭矩控制器都是基于Lyapunov的滑动模式控制器，因此MHH框架可以实现最佳的控制性能，同时确保稳定性。最后，两个控制器消除了对MPC稳定性和动态约束的要求。最后，硬件实验证明了HTSMC，MPC和MHH的功效。
Spherical robot is a nonlinear, nonholonomic and unstable system which increases the difficulty of the direction and trajectory tracking problem. In this study, we propose a new direction controller HTSMC, an instruction planning controller MPC, and a trajectory tracking framework MHH. The HTSMC is designed by integrating a fast terminal algorithm, a hierarchical method, the motion features of a spherical robot, and its dynamics. In addition, the new direction controller has an excellent control effect with a quick response speed and strong stability. MPC can obtain optimal commands that are then transmitted to the velocity and direction controller. Since the two torque controllers in MHH are all Lyapunov-based sliding mode controllers, the MHH framework may achieve optimal control performance while assuring stability. Finally, the two controllers eliminate the requirement for MPC's stability and dynamic constraints. Finally, hardware experiments demonstrate the efficacy of the HTSMC, MPC, and MHH.
