计算机工程与应用Issue(23)：257-260,4.DOI:10.3778/j.issn.1002-8331.1202-0225
一种新型的移动机器人轨迹跟踪控制方法
Novel trajectory-tracking control method for mobile robots
摘要
Abstract
This paper is mainly to study trajectory tracking control method for nonholonomic mobile robot which is based on kinematic model, with global asymptotic stability. The nonlinear control method is made up of feedforward signal and feedback signal. A feedforward part is variable structure control. Switch function of variable structure control is designed based on the backstepping method. In order to weaken chattering, the exponential rate reaching rule is used in the sliding mode variable struc-ture control. The first method of Lyapunov is used to analyse the stability of control system, and prove that the sliding mode tracking controller is stable. A feedback part is a controller which is developed based on a Lyapunov approach. Through the inter-action of the feedforward part and the feedback part, the precision for mobile robot trajectory tracking control is improved. The experimental results show that the control effect is improved obviously compared with the common method , the tracking error can be in a relatively short period of convergence. The control method has the very good anti-disturbance performances.关键词
移动机器人/滑模变结构/轨迹跟踪/Lyapunov/反演设计/运动模型Key words
mobile robot/sliding mode variable structure/trajectory tracking/Lyapunov/backstepping/kinematic model分类
信息技术与安全科学引用本文复制引用
张扬名,刘国荣..一种新型的移动机器人轨迹跟踪控制方法[J].计算机工程与应用,2013,(23):257-260,4.基金项目
国家自然科学基金（No.51177040，No.61104072）；湖南省自然科学湘潭市联合基金重点资助项目（No.09jj8006）。 （）
