基于Backstepping的轮式移动机器人镇定研究与实验验证  

Back-stepping Stabilization Control of Wheeled Mobile Robot and Experiment Verification

作　　者：丁贡献[1] 王祝萍[1] 陈启军[1] 袁占平[1] 

机构地区：[1]同济大学控制理论与控制工程系,上海201804

出　　处：《装备制造技术》2009年第6期3-5,共3页Equipment Manufacturing Technology

基　　金：国家自然科学基金资助项目(60704005);上海市科委自然科学基金资助项目(07ZR14119)

摘　　要：根据轮式移动机器人的运动学模型,基于Back-stepping方法,构造了轮式移动机器人镇定系统的李雅普诺夫函数,并通过使李雅普诺夫函数负定,设计了移动机器人镇定控制律。轮式移动机器人的仿真实验以及实际的控制实验表明,该方法能使轮式移动机器人的位姿从任意θ(0)≠0的初始状态渐近收敛到原点。A wheeled mobile robot is one of the wen-known nonholonomic constrained systems. Aimed at the kinematic model of the wheeled mobile robots, through the Backstepping method, the Lyapunov function of the stabilization control of the wheeled mobile robots is constructed and the stabilizing controller of the wheeled mobile robots is proposed in order to make the constructed Lyapunov function negative. It is proved that the proposed controller can exponentially stabilize the wheeled mobile robots from any initial state to the origin, and the effectiveness of the controller was demonstrated via computer simulations and their practice.

关 键 词：轮式移动机器人 非完整系统 镇定控制 BACKSTEPPING 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]