安徽工程大学学报Issue(1)：48-52,5.
轮式移动机器人的三维轨迹跟踪控制
Three-dimensional trajectory tracking control for wheeled mobile robot
摘要
Abstract
A robust three‐dimensional trajectory tracking control strategy for w heeled mobile robot via a‐daptive backstepping sliding mode technique is presented .Firstly ,the w heeled mobile robot dynamics e‐quation and position equation are obtained by coordinate transformation theory .Then ,switching function is designed by backstepping method and an adaptive backstepping sliding mode trajectory tracking con‐troller is developed for the wheeled mobile robot system .Finally ,compared with PID control method , simulation results show that the proposed method has higher control precision and reduces chattering ex‐isting in conventional sliding mode control .关键词
轮式移动机器人/反演滑模控制/轨迹跟踪/抑制抖振Key words
wheeled mobile robot/backstepping sliding mode control/three-dimensional trajectory/track-ing control分类
信息技术与安全科学引用本文复制引用
李小凤,黄宜庆,袁梦茹..轮式移动机器人的三维轨迹跟踪控制[J].安徽工程大学学报,2016,(1):48-52,5.基金项目
国家自然科学基金资助项目 （）
