硕士学位论文
Abstract
In view of the advantages of mobile platform’s large workspace and the
dexterity of industrial robotic arm, the mobile manipulator system has been widely
used in industrial production, national defense military and family services. In the
process of mobile manipulator control, model parameter uncertainties and external
disturbances, torque saturation problem always affect the mobile manipulator control
property. In view of the above factors, designing a trajectory tracking controller to
satisfy the requirement of high precision and high speed is the emphasis and
difficulty in the research of mobile manipulator.
Firstly, the kinematics and dynamics model of six degrees of freedom
nonholonomic mobile manipulator are established uniformly. According to torque
saturation problem, an adaptive neural network combing backstepping control with
sliding mode control is proposed. Neural network is used to compensate the dynamic
uncertainty of system, and the neural network approximation error and torque
saturation part are compensated by an parameter adaptive compensation.
Secondly, Given that it is difficult to obtain the velocity and acceleration of the
manipulator joints, an Backstepping dynamic surface controller based on fuzzy
wavelet network observer is proposed. Considering the nonlinear dynamic
characteristics of the drive motor, an control method of the output voltage easier to
be realized. Fuzzy wavelet networks are used to compensate the dynamic uncertainty
of mobile manipulators and drive motor model. To estimate joint speed, an observer
is designed, and dynamic surface control is applied to avoid the problems of large
amount of calculation.
Finally, in order to avoid complex trajectory planning before trajectory tracking
in the joint space and make it simple and efficient, a mobile manipulator trajectory
tracking controller is proposed in task space. Online modeling and adaptive
compensation of kinematics uncertainties and dynamic uncertainty is completed
respectively with the RBF neural network . An backstepping controller based on
dynamic surface control is designed, to achieve end-effector position tracking and
don't need to measure the end-effector speed signal.
Based on lyapunov stability theorem, The stabilities of the proposed algorithms
are proved, and the effectiveness of the algorithm is verified by simulation
III
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