非完整移动机器人的反步跟踪控制方法

移动机器人是典型的非完整系统,对其进行运动控制是一个热点且是一项具有挑战性的工作.目前的大部分研究都是基于运动学模型的,而在实际应用中,动力学特性不可忽视.针对轨迹跟踪这一典型控制任务,文中对一种轮式移动机器人进行了动力学建模.利用反步技术,提出了一种控制结构,综合了速度控制器和力矩控制器.该控制律不但能够得到稳定跟踪所需要的速度,而且同时能够计算出驱动移动机器人行进的电机力矩.仿真结果表明,该控制律可以良好地工作.控制结构的通用性保证了其他控制方法拓展的可能性.

Backstepping Tracking Control of Nonholonomic Mobile Robot

A mobile robot is one of the well - known nonholonomic systems. The navigation control of such a system is a hotspot and a kind of challenging task. Most of recent researches are based on kinematic model of the robot, but the dynamic parameters can not be neglected in real situation. Trajectory tracking control is the basic task in robot navigation. Based on backstepping technology, with the dynamic modeling of a wheeled mobile robot, a kind of control structure is presented in this paper. It is an integration of kinematic controller and torque controller, and the velocity and torque for stable tracking can be satisfied simultaneously. The simulation results proved its effectiveness. And the general control structure makes possible the extension of other control technologies.