信息与控制2017，Vol.46Issue(4)：385-393,9.DOI:10.13976/j.cnki.xk.2017.0385
轮式移动机器人轨迹跟踪的PID控制方法
Trajectory Tracking Control of Wheeled Mobile Robots Using PID Control Method
摘要
Abstract
We investigate the leader-follower trajectory tracking control problem for wheeled mobile robots, and develop a PID controller based on direct feedback linearization (DFL).First, we establish a kinematic model for a single-wheeled mobile robot by motion analysis.Then, we present a kinematic model for the leader-follower trajectory tracking control system.On the basis of the established model, we design a PID controller with DFL strategy.Simulations and experiments demonstrate that the PID controller is easy to implement and preserves certain advantages in disturbance rejection.关键词
轮式移动机器人/轨迹跟踪/直接反馈线性化/抗干扰/比例-积分-微分控制Key words
wheeled mobile robot/trajectory tracking/direct feedback linearization(DFL)/disturbance rejection/PID (proportion-integral-derivative) control分类
信息技术与安全科学引用本文复制引用
冯剑,张文安,倪洪杰,丰其云..轮式移动机器人轨迹跟踪的PID控制方法[J].信息与控制,2017,46(4):385-393,9.基金项目
教育部重点实验室开放基金(200240) （200240）
