作者：于涛¹, 王益博¹, 孙汉旭², 赵伟³

作者单位：1. 辽宁工业大学机械工程与自动化学院, 辽宁 锦州 121001;
2. 北京邮电大学自动化学院, 北京 100876;
3. 北京印刷学院 信息工程学院, 北京 102600

关键词：球形机器人;直线运动;分层滑模控制;干扰观测器;双幂次趋近律

摘要：

针对受扰球形移动机器人的直线运动控制问题，提出一种基于滑模干扰观测器和双幂次趋近律的分层滑模控制方法。该控制方法利用滑模干扰观测器对未知扰动进行在线估计，并且采用基于滑模干扰观测器的分层滑模控制器实现被控机器人系统的连续鲁棒控制。首先设计被控系统的第一层和第二层滑动变量，然后基于第一层滑动变量定义系统的辅助滑动变量。基于所定义的辅助滑动变量设计滑模干扰观测器，然后基于所设计的滑模干扰观测器和第二层滑动变量，采用改进的双幂次趋近律设计分层滑模控制器。从理论上分析所设计的分层滑模控制器作用下闭环系统的稳定性，并通过仿真实验验证所提控制方法的有效性。

Linear motion control of a spherical mobile robot based on disturbance observer
YU Tao¹, WANG Yibo¹, SUN Hanxu², ZHAO Wei³
1. College of Mechanical Engineering and Automation, Liaoning University of Technology, Jinzhou 121001, China;
2. School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China;
3. School of Information Engineering, Beijing Institute of Graphic Communication, Beijing 102600, China
Abstract: A hierarchical sliding mode control approach based on sliding mode disturbance observer and double power reaching law is proposed for controlling the linear motion of a disturbed spherical mobile robot. The proposed control approach uses sliding mode disturbance observers to estimate the unknown disturbances on-line, and adopts a hierarchical sliding mode controller based on the sliding mode disturbance observers to realize continuous robust control of the robotic system. The sliding variables of the first and second layers of the robotic system are designed, and the auxiliary sliding variables of the system are defined based on the first layer sliding variables. The sliding mode disturbance observers are derived based on the auxiliary sliding variables, and then based on the sliding mode disturbance observers and the second layer sliding variable the hierarchical sliding mode controller is designed by using an improved double power reaching law. The stability of the closed-loop system controlled by the hierarchical sliding mode controller is analyzed theoretically, and the effectiveness of the proposed control approach is verified by simulation tests.
Keywords: spherical robot;linear motion;hierarchical sliding mode control;disturbance observer;double power reaching law
2019, 45(9):123-129  收稿日期: 2018-10-10;收到修改稿日期: 2018-11-23
基金项目: 辽宁省自然科学基金指导计划项目（201602379）；辽宁省教育厅科学技术研究一般项目（L2015241）
作者简介: 于涛(1980-),男,天津市人,讲师,博士,研究方向为机器人运动分析与控制、滑模控制理论与应用
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