摘要
For accurate trajectory tracking and obstacle avoidance in finite time of a nonholonomic mobile robot,a trajectory tracking controller based on global fast terminal sliding mode method is proposed,which has the advantages of chattering-free and adjustable convergence time.First of all,the kinematics model of the robot is established in mobile carrier coordinates.Secondly,the global structure including terminal attractor and exponential convergence of the fast terminal sliding mode trajectory tracking controller is proved by Lyapunov stability theory,ensuring that the trajectory and heading angle tracking error converges to a smaller zero range in finite time.Finally,the artificial potential field obstacle avoidance method is introduced to make the robot not only track the reference trajectory strictly,but also avoid the obstacles.The simulation results show that the proposed method can achieve a stable tracking control in finite time for a given reference trajectory.
基金
National Natural Science Foundation of China(No.61673042)
Shanxi Province Science Foundation for Youths(No.201701D221123)。
