机械科学与技术2012，Vol.31Issue(1)：107-112,6.
基于动力学模型的轮式移动机器人自适应滑模轨迹跟踪控制
Dynamic Model-based Adaptive Sliding-mode Trajectory Tracking Control over Wheeled Mobile Robot
摘要
Abstract
In order to control a wheeled mobile robot whose mass center does not coincide with its geometrical center,we propose an adaptive sliding-mode trajectory tracking control law that has global asymptotical stability.We design a kinematic controller according to the kinematic model of the wheeled mobile robot.Using the kinematic model and the kinematic controller,we design an adaptive sliding-mode controller with the backstepping technique and the integral sliding-mode control algorithm,which can overcome unknown disturbances effectively.We use the Lyapunov stability theory to prove the stability of the wheeled mobile robot and its tracking error convergence.Our control law satisfies the trajectory tracking requirements for the wheeled mobile robot and has good robustness.Finally,we use two simulation examples to demonstrate the effectiveness and correctness of our control law.关键词
轮式移动机器人/轨迹跟踪/动力学模型/自适应滑模控制/反演技术Key words
wheeled mobile robot/trajectory tracking dynamic model/adaptive sliding-mode control/backstepping technique分类
信息技术与安全科学引用本文复制引用
张鑫,刘凤娟,闫茂德..基于动力学模型的轮式移动机器人自适应滑模轨迹跟踪控制[J].机械科学与技术,2012,31(1):107-112,6.基金项目
陕西省科学技术研究计划项目 （）
中央高校基本科研业务费专项资金项目（CHD2009JC038）资助 （）
