输出约束下的轮式移动机器人的跟踪控制  

Tracking control for a wheeled mobile robot with output constraints

作　　者：李晓梅[1] 郭晓君 陈学军[1] LI Xiaomei;GUO Xiaojun;CHEN Xuejun(Key Laboratory of Fujian Universities for New Energy Equipment Testing(Putian University),Putian 351100,China)

机构地区：[1]新能源装备检测福建省高校重点实验室(莆田学院),福建莆田351100

出　　处：《延边大学学报(自然科学版)》2025年第1期77-82,共6页Journal of Yanbian University(Natural Science Edition)

基　　金：福建省自然科学基金项目(2022J011169);福建省科技计划引导性项目(2021H0058)。

摘　　要：为提高具有位姿(位置和姿态角)输出约束的非完整轮式移动机器人(WMR)的跟踪性能,提出了一种基于积分障碍李雅普诺夫函数的轨迹跟踪控制器.首先,为了使移动机器人的位姿输出能够保持在预定的约束条件下,构造了积分障碍李雅普诺夫函数;然后,基于李雅普诺夫稳定性原理设计了轨迹跟踪器,以此实现位姿能够快速地跟踪期望值;最后,利用仿真实验验证了所设计控制器不仅能够保证WMR的输出满足约束条件,而且在约束下WMR能够更快速、稳定地自主跟踪目标。To improve the tracking performance with the output constraints on position and orientation angle of the nonholonomic wheeled mobile robot(WMR),a trajectory tracking controller based on integral barrier Lyapunov function(iBLF)is proposed.Firstly,to guarantee the bounded constraints of keeping the outputs within the predetermined range,the control strategy is to construct the iBLFs.Then the trajectory tracker is designed based on the Lyapunov stability principle to achieve the outputs fast tracking the expected values.Finally,the simulation results show that the designed controller not only ensures that the output of WMR meets the constraints,but also WMR can track the target more quickly and stably under the constraints.

关 键 词：轮式移动机器人 输出约束 跟踪控制 积分障碍李雅普诺夫函数 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]