基于微分平坦性设计快速鲁棒控制器，提升轮式机器人在扰动下的路径跟踪能力。
Finite-Time Control Based on Differential Flatness for Wheeled Mobile Robots with Experimental Validation
- 利用微分平坦性将机器人模型转为标准形式，简化控制设计。
- 提出新型积分非线性超平面滑模控制，有效抑制风力等扰动影响。
- 在TurtleBot3上实测验证，对比实验显示跟踪精度显著提升。
针对轮式移动机器人（WMRs）在复杂环境与干扰（如强风、不平整路径）下轨迹跟踪性能下降的问题，本文提出一种鲁棒跟踪控制策略。首先，利用运动学模型的微分平坦性，将系统转化为线性规范形式，便于控制器设计。随后，提出一种基于积分非线性超平面的滑模控制（INH-SMC）方法，以应对外部干扰。通过稳定性分析验证了该方法的有效性。最后，在实际室内环境中对TurtleBot3 WMR进行对比实验，施加多种扰动，结果表明所提方法在轨迹跟踪精度和抗干扰能力方面均优于传统方法，验证了其在真实场景中的可行性与有效性。
原文摘要 · Abstract (English)
A robust tracking control strategy is designed to empower wheeled mobile robots (WMRs) to track predetermined routes while operating in diverse fields and encountering disturbances like strong winds or uneven path conditions, which affect tracking performance. Ensuring the applicability of this tracking method in real-world scenarios is essential. To accomplish this, the WMR model is initially transformed into a linear canonical form by leveraging the differential flatness of its kinematic model, facilitating controller design. Subsequently, a novel integral nonlinear hyperplane-based sliding mode control (INH-SMC) technique is proposed for WMR under disturbances. The stability of the technique is analyzed and verified. Finally, its practical viability is demonstrated through a comparative real-world indoor experiment on a TurtleBot3 WMR subjected to disturbances, confirming the feasibility and efficacy of the proposed approach.
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