非完整轮式移动机器人反演滑模轨迹跟踪控制器设计  

Design of Backstepping-based Sliding-mode Trajectory Tracking Controller for Nonholonomic Mobile Robot

作　　者：杨敏[1] 梅劲松[1] 廖里程 

机构地区：[1]南京航空航天大学自动化学院,江苏南京210016

出　　处：《机械制造与自动化》2015年第5期152-154,196,共4页Machine Building & Automation

摘　　要：针对轮式移动机器人的轨迹跟踪问题,提出了一种反演滑模控制方法。采用PI型滑模面设计等效控制律,利用变速函数代替了符号函数得到切换控制律,并利用Lypunov定理证明了系统的稳定性。仿真结果表明了该方法的有效性和正确性,控制中出现的抖振现象得到改善,在外界干扰影响下,也具有良好的控制品质。For tracking the trajectory of wheeled mobile robots, a backstepping-based sliding-mode control scheme is presented. An equivalent control law is obtained by using PI- type sliding surface and a switching control law is gotten by replacing sign function by variable rate function. The stability of the system is proved by Lyapunov theory. Simulation results show the effectiveness and cor- rectness of the proposed method and the improvement of the chattering phenomenon in the system. Even though external disturb- ances exist, the proposed approach is of a satisfactory control quality.

关 键 词：轮式移动机器人 反演 滑模控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]