轮式移动机器人全局轨迹跟踪控制  

Global Trajectory Tracking Control of Wheeled Mobile Robot

作　　者：赵涛[1] 王屹华[1] ZHAO Tao;WANG Yihua(Northwest Institute of Mechanical&Electrical Engineering,Xianyang Shaanxi 712099,China)

机构地区：[1]西北机电工程研究所

出　　处：《微电机》2020年第1期106-107,111,共3页Micromotors

摘　　要：采用级联-反演方法进行轨迹跟踪控制器设计,将轨迹跟踪误差投影到轮式移动机器人的误差坐标系中,获得轨迹跟踪误差的动态模型。同时,将系统分解为位置跟踪和航向角跟踪两个级联系统,利用反演方法获得系统全局一致渐近稳定跟踪控制器,并基于级联系统理论证明了轨迹跟踪的全局一致渐近稳定性。仿真结果表明,初始跟踪误差很快收敛于零,轨迹跟踪效果良好,闭环系统具有良好的动态性能和全局稳定性,适用于轮式移动机器人的全局轨迹跟踪控制。This paper considerd the global trajectory tracking control problem of wheeled mobile robot.A novel tracking controller for the kinematic model of wheeled mobile robot was presented based on the cascaded approach theory.Meanwhile,by using the Lyapunov stability theory,the stability of the controller was proved.Finally,the proposed scheme was implemented on the wheeled mobile robot.The simulation results indicate that the methodology can make the trajectory tracking error convergence quickly and guarantee the trajectory tracking effect greatly.Moreover,the close loop system has great dynamic characteristics and global stability.The proposed method can apply to the global trajectory tracking control for wheeled mobile robot.

关 键 词：轮式移动机器人 运动学模型 复合跟踪误差 位置跟踪 级联方法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]