计算机工程与应用Issue(8)：266-270,5.DOI:10.3778/j.issn.1002-8331.1108-0202
基于反步法的移动机器人鲁棒跟踪控制
摘要
Abstract
A four-wheel mobile robot is investigated, the mathematical model of the robot is established which includes a kine-matic model, a dynamic model and a motor model. Based on the mathematical model of the robot, backstepping method is used for designing a globally stable robust trajectory tracking controller, the motor model is considered to make the controller more suitable for the practical requirements, the controller is divided into three parts including a kinematic controller, a dynamic control-ler and a motor controller, which is helpful to design the robust controller. The Lyapunov function of the system is constructed, it is proved that this kind of robot can globally asymptotically track a given trajectory under the proposed controller. The simulation results show that the robust trajectory tracking controller with backstepping method is valid.关键词
差动驱动式移动机器人/轨迹跟踪/鲁棒控制/反步法/李雅普诺夫函数Key words
differential-drive mobile robot/trajectory tracking/robust control/backstepping/Lyapunov function分类
信息技术与安全科学引用本文复制引用
李树荣,马慧超,矫德余..基于反步法的移动机器人鲁棒跟踪控制[J].计算机工程与应用,2013,(8):266-270,5.基金项目
国家自然科学基金(No.60974039) （No.60974039）
中国科学院数学机械化重点实验室开放课题(No.F0905009A) （No.F0905009A）
