一种新型的移动机器人轨迹跟踪控制方法 - 计算机工程与应用.pdfVIP

Computer Engineering and Applications 计算机工程与应用 2013 ，49 （23 ） 257 一种新型的移动机器人轨迹跟踪控制方法 1 1，2 张扬名 ，刘国荣 1 1，2 ZHANG Yangming , LIU Guorong 1.湘潭大学 信息工程学院，湖南 湘潭 411105 2.湖南工程学院，湖南 湘潭 411101 1.College of Information Engineering, Xiangtan University, Xiangtan, Hunan 411105, China 2.Hunan Institute of Engineering, Xiangtan, Hunan 411101, China ZHANG Yangming, LIU Guorong. Novel trajectory-tracking control method for mobile robots. Computer Engineering and Applications, 2013, 49 （23 ）：257-260. Abstract ：This paper is mainly to study trajectory tracking control method for nonholonomic mobile robot which is based on kinematic model, with global asymptotic stability. The nonlinear control method is made up of feedforward signal and feedback signal. A feedforward part is variable structure control. Switch function of variable structure control is designed based on the backstepping method. In order to weaken chattering, the exponential rate reaching rule is used in the sliding mode variable struc- ture control. The first method of Lyapunov is used to analyse the stability of control system, and prove that the sliding mode tracking controller is stable. A feedback part is a controller which is developed based on a Lyapunov approach. Through the inter- action of the feedforward part and the feedback part, the precision for mobile robot trajectory tracking control is improved. The experimental results show that the control effect is improved obviously compared with the common method , the tracking error can be in a relatively short period of convergence. The control method has the very good anti-disturbance performances. Key words ：mobile robot; sliding mode variable structure; trajectory tracking; Lyapunov; backstepping; kinematic model 摘 要：主要是对非完整约束下移动机器人的轨迹跟踪控制进行了研究，提出了一种新型的基于移动机器人运动模型、具 有全局渐近稳定性的跟踪控制方法。这种非线性控