Professional Documents
Culture Documents
113089694 ĐIỀU KHIỂN BAM ROBOT DI ĐỘNG PHI HOLONOM CO THAM SỐ BẤT ĐỊNH BẰNG THUẬT TOAN THICH NGHI THEO MO HINH MẪU Hoi nghi mathtype
113089694 ĐIỀU KHIỂN BAM ROBOT DI ĐỘNG PHI HOLONOM CO THAM SỐ BẤT ĐỊNH BẰNG THUẬT TOAN THICH NGHI THEO MO HINH MẪU Hoi nghi mathtype
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
1 _ 1 1
1
1 1 1
+
1
1 1 1
]
1 1 1
] , ] ]
&&
&&
&&
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
1
]
&
(6)
Trong :
os 0
( ) sin 0
0 1
c
g q
1
1
1
1
]
Vi phn cng thc (6):
( ) ( )
w w
v v
q g q g q
1 1
+
1 1
] ]
&
&& &
&
(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
1 1 1
1 1 1
1 1 1
1 1 1
] ] ]
(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
1 1 1
1
1 1 1
+
1
1 1 1
]
1 1 1
] ] ]
&
&
&
(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
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
( )
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
1 1
+ + + +
1 1
] ]
&
&
(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:
[1] A.M. Bloch, M. Reyhanoglu, H.
McClamorch. Control
and stabilization of nonholonomic dynamic
systems, IEEE
Tran. On Automatic Control, 37, 11, pp.
1746-1757, (1992).
[2] dAndrea Novel, G. Campion, G. Bastin.
Control of
wheeled mobile robots not satisfying ideal
velocity
constraints: a singular perturbation approach,
Int. J. of
Robust Nonlinear Control, 5, pp. 243-267,
(1995).
[3] W. Dong, W. Huo. Tracking control of
wheeled mobile
robots with unknown dynamics, proc. of
IEEE Int. conf. on
Robotics and Automation, Detroit, pp. 2645-
2650 (1999).
[4] W. Dong, W.L. Xu. Adaptive tracking
control of
uncertain nonholonomic dynamic system,
IEEE Tran. On
Automatic Control, 46, 3, pp. 450-454 (2001).
[5] O.J. Sordalen, O. Egeland. Exponential
stabilization of
nonholonomic chained systems, IEEE Tran.
On Automatic
Control, 40, 1, pp. 35-49, (1995).
[6] Walsh, Tillbury, Sastry, Murray,
Laumond. Stabilization
of trajectories for systems with nonholonomic
constraints,
IEEE Tran. On Automatic Control, 39, pp.
216-222, (1994).
[7] Y. Kanayama, Y. Kimura, F.
Miyazaki, T. Noguchi. A
stable tracking control scheme for an
autonomous mobile
robot, proc. of IEEE Int. Conf. on
Robotics and Automation,
pp. 384-389, (1990).
[8] R.M. Murray, G. Walsh, S.S.
Sastry. Stabilization and
tracking for nonholonomic control
systems using time
varying state feedback, IFAC
Nonlinear Control systems
design, pp. 109-114, (1992).
[9] R. Fierro, L. Lewis. Control of a
nonholonomic mobile
robot: backstepping kinematics into
dynamics, proc. of the
34th
IEEE Conf. on Decision & Control,
New Orleans, pp.
3805-3810, (1995).
[10] Z.P. Jiang, H. Nijmeijer.
Tracking control of mobile
robots: A case study in Backstepping,
Automatica, 33, 7, pp.
1393-1399, (1997).
[11] H.G. Tanner, K.J. Kyriakopoulos.
Discontinuous
backstepping for stabilization of
nonholonomic mobile
robots, proc. of IEEE Conf. on
Robotics and Automation,
Washington DC, pp. 3948-3953,
(2002).
[12] A. Gholipour, S.M. Dehghan, M.
Nili Ahmadabadi.
Lyapunov based tracking control of
nonholonomic mobile
robot, proc. of 10th
Iranian conference on electrical
engineering, Tabriz, Iran, 3, pp. 262-
269, (2002).