飞机表面爬行机器人轨迹跟踪控制-控制理论与控制工程专业毕业论文.docx

摘 要
摘 要
在过去的数十年中对具有特殊用途的爬行机器人的研究正在逐渐的增长。其研究的主要目的都是为了能够提供具有更好的操作性,在非安全和非健康的环境下保护人类的健康及把人从体力劳动中解放出来。
本文主要研究爬行机器人的路径跟踪控制问题,应用轨迹线性化控制TLC (Trajectory Linearization Contr01)方法提高非线性系统的距离跟踪精度和运动稳定性。
建立了爬行机器人的数学模型,并基于机器人的动力学和运动学模型,采用非线性系统的线性定常控制方法,对实际的非线性系统,选定理想目标模型,设计前馈控制器,得到使用轨迹线性化控制方法的非线性控制器。针对爬行机器人为两轴协调运动系统,存在开关量与模拟量的切换控制问题,本文研究了优化爬行机器人行为的运动规划问题。控制器的仿真结果以及爬行机器人的实验结果证明了该控制方法的有效性。
该方法解决了在飞机特殊表面环境下,
完成轨迹跟踪控制的问题。
关键词:爬行机器人路径跟踪非线性系统运动规划轨迹线性化控制
Abstract
An increasing interest in the development of special crawling robots has been witnessed in last decades,The motivations behind it are tO increase operation efficiency and protect human health and safety in dangerous.
In this papeh trajectory following control of the Crawling Robot(CR)is researched by using the TLC(TrajectOry Linearization Contr01)method,which can enhance the tracking precision and stable ofthe nonlinear system.
In this paper,mathematic modeling for a crawling mobile robot is on the robot dynamics and kinematics models,the controller of a nonlinear system is achieved by means of the linearization control on a practical nonlinear system,ideal model is selected,forward feedback controller is designed,and a nonlinear controller is available by using the TLC ’it is a problem that transfer control between switching value and analog value,because the Robot is a two·axis coordination ,in order to optimize the performance of the CR,the motion planning method ofthe Robot is also validity ofthe method is proved by some simulation and experiment results ofthe controller.
The method resolved the problem of tracking control for new style crawling robot
based On X—Y structure on the special surface ofaircraft.
KEY WORDS:Crawling Robot;Trajectory Following;Nonlinear System;Motion Planning;Trajectory Linearization Control
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