北京大学学报（自然科学版）2024，Vol.60Issue(4)：597-606,10.DOI:10.13209/j.0479-8023.2024.011
轮式移动机器人的反演二次滑模优化轨迹跟踪控制策略研究
Research on Trajectory Tracking Control Strategy of Backstepping Optimized Double Sliding Mode for Wheeled Mobile Robot
摘要
Abstract
In order to improve the accuracy of trajectory tracking control of wheeled mobile robot (WMR),a backstepping optimized double sliding mode control strategy was proposed.Initially,based on the kinematics and dynamics model of WMR,the kinematic backstepping sliding mode controller and dynamic backstepping integral sliding mode controller are designed.The stability of the designed controllers is proved by Lyapunov theory.Then particle swarm optimization (PSO) algorithm is used to optimize the controller parameters.Finally,considering the external disturbance and system input saturation,Matlab/Simulink is used to verify the control strategy.The results show that the proposed control strategy not only ensures the robustness and real-time performance of the system,but also improves the control accuracy of the system.关键词
轮式移动机器人(WMR)/滑模控制/反演控制/粒子群优化(PSO)/输入饱和Key words
wheeled mobile robot (WMR)/sliding mode control/backstepping control/particle swarm optimization (PSO)/input saturation引用本文复制引用
马梓竣,张欣刚,张树翠,姚文莉..轮式移动机器人的反演二次滑模优化轨迹跟踪控制策略研究[J].北京大学学报（自然科学版）,2024,60(4):597-606,10.基金项目
国家自然科学基金(12272197,12202224)和山东省自然科学基金(ZR2022MA066)资助 （12272197,12202224）
