摘要
针对轮式移动机器人的路径跟踪问题以及其非完整特性,引入一种新的虚拟反馈量,使用反演法设计了路径跟踪控制器。首先通过移动机器人的运动学模型得出其运动学位姿误差微分方程,然后基于Backstepping(逐步后推)方法设计控制器,通过构造的Lyapunov函数证明了所设计的控制器的稳定性;最后用Matlab进行仿真以及SM35机器人进行实验,结果表明,所设计的控制器能使移动机器人以任意小的误差跟踪任意给定的参考路径。
To solve the path tracking problem and perfect nonholonomic characteristic of the mobile robot,a new virtual feedback quantity is introduced,and the thought of Backstepping is used to design the path tracking controller.Firstly,the kinematics position and posture errors differential equation is achieved through the kinematics model of the mobile robot,and then the controller is designed based on Backstepping,the stability of the designed controller is proved through the Lyapunov function.Finally,the results of Madab simulation and SM35 robot test show that the reference trajectory can be followed globally with an arbitrarily small tracking error.
出处
《测控技术》
CSCD
2016年第8期52-56,61,共6页
Measurement & Control Technology
基金
国家自然科学基金项目(61203068)
宁波市重大科技攻关项目(2013B10045)
宁波市科技创新团队项目(2015B11009)
