基于反步法的移动机器人鲁棒跟踪控制

以四轮移动机器人为研究对象，建立了机器人完整的数学模型，包括运动学模型、动力学模型以及驱动电机模型。在机器人数学模型的基础上，采用反步法的思想设计具有全局收敛特性的鲁棒轨迹跟踪控制器，设计中考虑了驱动电机模型使控制器更符合实际控制要求，并将其分解为运动学控制器、动力学控制器以及电机控制器三部分，降低了控制器设计的难度。构造了系统的李雅普诺夫函数，证明了该类型移动机器人在所得控制器作用下，能实现对给定轨迹的全局渐近追踪。仿真实验结果表明基于反步法的控制器是有效的。

Robust tracking control for mobile robots using backstepping

A four-wheel mobile robot is investigated, the mathematical model of the robot is established which includes a kinematic model, a dynamic model and a motor model. Based on the mathematical model of the robot, backstepping method is used for designing a globally stable robust trajectory tracking controller, the motor model is considered to make the controller more suitable for the practical requirements, the controller is divided into three parts including a kinematic controller, a dynamic controller and a motor controller, which is helpful to design the robust controller. The Lyapunov function of the system is constructed, it is proved that this kind of robot can globally asymptotically track a given trajectory under the proposed controller. The simulation results show that the robust trajectory tracking controller with backstepping method is valid.