测试科学与仪器2020，Vol.11Issue(1)：78-86,9.DOI:10.3969/j.issn.1674-8042.2020.01.010
基于快速终端滑模的机器人轨迹跟踪避障方法
Trajectory tracking and obstacle avoidance method for robots based on fast terminal sliding mode
摘要
Abstract
For accurate trajectory tracking and obstacle avoidance in finite time of a nonholonomic mobile robot,a trajectory tracking controller based on global fast terminal sliding mode method is proposed,which has the advantages of chattering-free and adjustable convergence time.First of all,the kinematics model of the robot is established in mobile carrier coordinates. Secondly,the global structure including terminal attractor and exponential convergence of the fast terminal sliding mode trajectory tracking controller is proved by Lyapunov stability theory,ensuring that the trajectory and heading angle tracking error converges to a smaller zero range in finite time.Finally,the artificial potential field obstacle avoidance method is introduced to make the robot not only track the reference trajectory strictly,but also avoid the obstacles.The simulation results show that the proposed method can achieve a stable tracking control in finite time for a given reference trajectory.关键词
轨迹跟踪/全局快速终端滑模/收敛时间可调/无抖振/人工势场法Key words
trajectory tracking/global fast terminal sliding mode/adjustable convergence time/chattering free/artificial potential field method分类
信息技术与安全科学引用本文复制引用
曹志斌,杨卫,邵星灵,刘宁..基于快速终端滑模的机器人轨迹跟踪避障方法[J].测试科学与仪器,2020,11(1):78-86,9.基金项目
National Natural Science Foundation of China (No.61673042 ) （No.61673042 ）
Shanxi Province Science Foundation for Youths (No.201701D221123) （No.201701D221123）
