摘要
根据机器人的运动学模型 ,对具有非完整特性的移动机器人轨迹跟踪控制进行了研究 .采用基于积分backstepping时变状态反馈方法 ,引入具有双曲正切特性的虚拟反馈量 ,设计机器人轨迹跟踪控制算法 ,并且利用Lyapunov方法证明系统的全局稳定性 .考虑到机器人的动力学约束 ,控制律中引入机器人系统速度、加速度受限策略以保证机器人运动平滑 .仿真证明该算法具有快速、精确。
Based on the kinematic model of the mobile robot, a global asymptotically stable tracking controller is designed using integral backstepping and time varying method with the virtual feedback parameter, which has the property of a hyperbolic tangent. Meanwhile, the Lyapunov theory is used to verify the stability of the controller. Considering the dynamics of the mobile robots, the limited control strategy is introduced to provide smooth motion of the robot. The simulation results show that the controller is capable of quick and precise tracking and global stablity.
