现代制造工程Issue(1)：66-73,8.DOI:10.16731/j.cnki.1671-3133.2026.01.008
基于自适应命令滤波反步渐近的轮式移动机器人轨迹跟踪控制
Adaptive command filtering backstepping asymptotic tracking control for wheeled mobile robots
摘要
Abstract
Aiming at the trajectory tracking control problem of a wheeled mobile robot system under nonholonomic constraints in the presence of external disturbances,an adaptive command filtering backstepping asymptotic tracking control scheme is proposed,which combines the command filtering backstepping method with the error model of wheeled mobile robot system.Com-mand filters are used to avoid differential calculations of virtual control signals in traditional backstepping,and an error compensa-tion mechanism is established to compensate filtering errors.By introducing time-varying parameters,the tracking error asymptoti-cally converges to 0,ensuring the convergence of the system.Simultaneously adaptive laws are designed to handle external disturb-ances,which has improved the stability of wheeled mobile robots.Finally,the effectiveness of the proposed control law has been verified through simulation and experiments.关键词
渐近跟踪控制/命令滤波反步/自适应技术/轮式移动机器人Key words
asymptotic tracking control/command filtering backstepping/adaptive technology/wheeled mobile robot分类
信息技术与安全科学引用本文复制引用
李昊天,赵林..基于自适应命令滤波反步渐近的轮式移动机器人轨迹跟踪控制[J].现代制造工程,2026,(1):66-73,8.基金项目
国家自然科学基金项目(62373207) （62373207）
