基于backstepping方法的两轮移动机器人轨迹跟踪控制  

Track tracking control of two-wheel mobile robot based on backstepping method

作　　者：陈滢 陈炜[1,2] 杨贺贺 孙玉超[3] 吴航 CHEN Ying;CHEN Wei;YANG Hehe;SUN Yuchao;WU Hang(Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control and Electrical Engineering Education,Tianjin University of Technology,Tianjin 300384,China;National Demonstration Center for Experimental Mechanical and Electrical Engineering Education,Tianjin University of Technology,Tianjin 300384,China;Zhonghuan Information College,Tianjin University of Technology,Tianjin 300380,China;Institute of Medical Support Technology,Academy of System Engineering of AMS,PLA,Tianjin 300161,China)

机构地区：[1]天津理工大学天津市先进机电系统设计与智能控制重点实验室,天津300384 [2]天津理工大学机电工程国家级实验教学示范中心,天津300384 [3]天津理工大学中环信息学院,天津300380 [4]军事科学院系统工程研究院卫勤保障技术研究所,天津300161

出　　处：《天津理工大学学报》2021年第3期1-7,共7页Journal of Tianjin University of Technology

基　　金：天津市自然科学基金重点项目(18JCZDJC40300)。

摘　　要：主要利用backstepping方法实现对两轮移动机器人基于动力学模型的控制系统设计与轨迹跟踪。首先,利用牛顿-欧拉公式对两轮移动机器人进行动力学建模;其次对两轮移动机器人的动力学模型进行解耦;最后,利用backstepping方法完成了对移动机器人的轨迹跟踪控制。数值仿真验证了backstepping控制方法的有效性,以及该方法应用于两轮移动机器人轨迹控制的可行性。In this paper,the backstepping method is used to realize the control system design and trajectory tracking of two wheeled mobile robot based on dynamic model.Firstly,the dynamic model of the two wheeled mobile robot is established by Newton Euler formula;secondly,the dynamic model of the two wheeled mobile robot is decoupled;finally,the trajectory tracking control of the mobile robot is completed by backstepping method.The effectiveness of backstepping control method is verified by numerical simulation,and the feasibility of the method applied to the trajectory control of two wheeled mobile robot is verified.

关 键 词：两轮移动机器人 动力学 轨迹跟踪 BACKSTEPPING方法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]