中文摘要：

针对在野外环境下,地形变化以及移动机器人的重心位置变化都会影响机器人载荷分布,从而使滑转率控制精度下降的问题,提出了考虑载荷分布的滑转率自适应滑模控制.首先,考虑地形及重心位置的影响,通过空间力系关系建立机器人载荷分布的具体表达.其次,在滑转率控制中,采用带积分的滑模面以避免滑模控制的抖振影响;并且切换增益采用自适应调节规律以减弱不确定因素的影响.最后,由仿真结果说明控制方法的有效性.

英文摘要：

Under the outdoor environment,changes of terrain and gravity situation of mobile robot can influence load distribution and sequentially make control precision of the slip ratio drop.For this problem,a slip ratio self-adaptive sliding mode control considering load distribution is proposed.First,the express of robot load distribution is built by space force system relation considering influence of terrain and gravity situation.Next,in the control of slip ratio,a sliding mode surface with integral is adopted to avoid the chattering influence in sliding mode control,and a self-adaptive adjustment law is used in switch control gain to reduce the influence of uncertainty factors.Finally,simulation results show the effectiveness of the control method.