现代电子技术2025，Vol.48Issue(9)：124-129,6.DOI:10.16652/j.issn.1004-373x.2025.09.019
基于Lyapunov函数设计的轮式机器人轨迹跟踪反馈控制器
Wheeled robot trajectory tracking feedback controller based on Lyapunov function
摘要
Abstract
In this paper,the trajectory tracking of a differential drive wheeled mobile robot is studied and its motion model is established.The pose error equation is modified by setting the feedback signal,thereby constructing a new Lyapunov function,designing a new mobile robot trajectory tracking controller,and deriving and proving the global asymptotic stability and final convergence of the controller.Different reference instruments were used to conduct simulation experiments.After comparing various controllers,a controller with stronger advantages,smaller error,higher control accuracy and faster error convergence rate is proposed.关键词
Lyapunov函数/误差模型/运动学模型/轨迹跟踪/轮式机器人/平方误差积分Key words
Lyapunov function/error model/kinematic model/trajectory tracking/wheeled robot/ISE分类
信息技术与安全科学引用本文复制引用
汪军,杨光永,樊康生,徐天奇..基于Lyapunov函数设计的轮式机器人轨迹跟踪反馈控制器[J].现代电子技术,2025,48(9):124-129,6.基金项目
国家自然科学基金资助项目(61761049) （61761049）
国家自然科学基金资助项目(61261022) （61261022）
云南民族大学2024年硕士研究生科研创新基金项目(2024SKY119) （2024SKY119）
