改进的Backstepping在移动机器人轨迹跟踪中的应用  

Application of Improved Backstepping in Trajectory Tracking of Mobile Robot

作　　者：辛丰强[1] 陈阳舟[1] 盖彦荣[1] 

机构地区：[1]北京工业大学电子信息与控制工程学院,北京100124

出　　处：《计算机测量与控制》2012年第4期1108-1111,共4页Computer Measurement &Control

基　　金：国家自然科学基金资助项目(60774037);国家自然科学基金青年基金资助项目(60904069);北京工业大学博士科研启动基金项目(X0002999200904)

摘　　要：以四轮移动机器人的运动学模型为研究对象,基于BackStepping的设计思想,通过构造一种简单的中间虚拟反馈变量,同时结合Lyapunov直接法设计了一种移动机器人轨迹跟踪控制律,并证明了系统在设计控制律下的全局稳定性;但控制律中含有未知参数,不同的参考轨迹都要重新调节才能达到良好的跟踪效果,因此利用极点配置的方法对这些参数进行了优化整定,从而保证了控制器的自适应性;文中以直线和圆为参考轨迹做了仿真实验;仿真结果表明该算法具有快速,精确,全局稳定的良好特性。The kinematics of four--wheel mobile robot is the study object in this paper. Based on Backstepping, design a mobile robot trajectory tracking controller according to propose a simple virtual feedback variable and design a global asymptotically stable control law via Lyapunov direct method which has been proved globally stable under the control law. But there are some unknown parameters in the control law, we need to reset them to achieve good tracking performance when the reference trajectory changes. So. we optimized the parameters of these uncertainty in the control rate to ensure the adaptability of the controller using the pole--assignment. This paper do the experiment based on line and circle. The simulation results show that the controller is capable of quickly and precisely tracking and gloable stability.

关 键 词：移动机器人 BACKSTEPPING 轨迹跟踪 极点配置 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]