基于反演法的移动机器人轨迹跟踪控制  

Trajectory tracking control of mobile robot based on backstepping method

作　　者：高继勋[1] 黄全振 高振东 赵媛媛 GAO Jixun;HUANG Quanzhen;GAO Zhendong;ZHAO Yuanyuan(School of Computer,Henan University of Engineering,Zhengzhou 451191,China;School of Electrical Information Engineering,Henan University of Engineering,Zhengzhou 451191,China;Zhengzhou University of Technology,Zhengzhou 450044,China)

机构地区：[1]河南工程学院计算机学院,河南郑州451191 [2]河南工程学院电气信息工程学院,河南郑州451191 [3]郑州工程技术学院,河南郑州450044

出　　处：《中国测试》2022年第8期130-135,共6页China Measurement & Test

基　　金：国家自然科学基金项目(62173126);河南省高校科技创新团队支持计划(21IRTSTHN017);河南省科技攻关项目(222102210200,222102320349);河南省高等学校重点科研项目(22A520011);国家级大学生创新创业训练计划项目(202111517017)。

摘　　要：针对实际应用过程中,轮式移动机器人在运动学模型下轨迹跟踪误差较大的问题,提出一种基于动力学模型的轨迹跟踪控制方法。该方法以轮式移动机器人动力学模型为研究对象,理想轨迹为跟踪目标,对动力学模型进行解耦、分析,利用反演法设计控制器,分别对移动机器人的位置误差和角度误差进行控制。同时,在Lyapunov稳定性理论的基础上对系统稳定性进行证明,并且通过仿真算例和具体实验对所提出控制方法的有效性和鲁棒性进行验证。最后仿真和实验结果表明,该控制方法在一定时间内可完成对理想轨迹的跟踪、减小跟踪误差、提高响应速度,以及在实际应用中的可行性。This method is based on the dynamic model of a wheeled mobile robot and proposes a kinetic modelbased trajectory tracking control method to address the problem of large trajectory tracking errors in the kinematic model.This method takes the dynamic model of the wheeled mobile robot as the research object,and the ideal trajectory as the tracking target.The dynamic model is decoupled and analyzed,and the controller is designed using the inverse method to control the position error and angle error of the mobile robot respectively.The stability of the system is demonstrated on the basis of Lyapunov stability theory,and the effectiveness and robustness of the proposed control method is verified through simulation and experiments.The final simulation and experimental results show that the control method can track the ideal trajectory within a certain time,reduce the tracking error,improve the responsiveness,as well as the feasibility in practical applications.

关 键 词：移动机器人 动力学控制 反演控制 轨迹跟踪 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TB9[自动化与计算机技术—控制科学与工程]