摘要
针对三轮驱动移动机器人在轨迹跟踪控制过程中运动不平滑的问题,建立了移动机器人在一定运动约束条件下的运动学模型。根据移动机器人位姿误差微分方程的描述,设计了基于后退时变状态反馈方法的移动机器人轨迹跟踪控制器。基于李雅普诺夫方法,对轨迹跟踪控制器的稳定性进行了分析,证明了该控制器能够保证闭环系统全局一致渐进稳定。仿真结果验证了运动学模型的正确性,以及轨迹跟踪控制器的有效性。
A kinematic model of mobile robot with certain constraints of motion was established for unsmooth motion of three-wheeled mobile robot in the process of trajectory tracking control.According to the description of differential equation of mobile robot＇s position and orientation error,a trajectory tracking controller based on back stepping and time-varying state feedback was designed.It was proved that the controller could guarantee the uniformly asymptotical stability of the closed-loop system,according to the stability analysis of trajectory tracking controller.The simulation results verify the correctness of the kinematic model and the effectiveness of trajectory tracking controller.
出处
《计算机应用》
CSCD
北大核心
2011年第8期2293-2296,共4页
journal of Computer Applications
关键词
移动机器人
轨迹跟踪
后退方法
速度控制
全局稳定性
mobile robot
trajectory tracking
backstepping method
velocity control
global stability
