一种船用服务机器人的轨迹跟踪控制

基于旅游类舰船的消费需求不断增加和机器人产业的逐渐普及,设计一种应用于游轮上的船用服务机器人。面对船舶复杂的工作环境等特点,该机器人位置跟踪和姿态跟踪控制显得尤为关键。首先根据驱动原理建立运动学模型,其次借鉴Backstepping方法设计虚拟控制的虚拟反馈,并结合Lyapunov函数构造出具有全局渐近稳定的轨迹跟踪控制器。最后并通过仿真实验证明该法具有稳定性好、响应时间短和稳态误差较小的优点,对机器人技术应用于船舶方向的研究产生了一定的积极影响。

The Research on the Control of the Trajectory Tracking for a kind of the Marine Service Robot

Based on the reason of the increasing consumption demand of the tourist ships and the popularization of the robot industry, a kind of marine service robot is designed in the paper which is applicable to the cruises. Combined with the complex working environment of the ship, the control of the position tracking and attitude tracking for the robot is very important. Firstly, robot kinematics model should be derived, then based on Lyapunov function, the trajectory tracking controller can be then designed by the backstepping method .Finally, the validity of the method should be proved by the simulation experiments, which shows that the method has the advantages of good stability, short response time and less steady-state error. The result of the research has a certain positive effect on the research of the robot technology applied to ship direction.