非完整移动机器人的自适应滑模轨迹跟踪控制

Adaptive Sliding Mode Tracking Control of Nonholonomic Mobile Robot

针对动力学模型描述的非完整移动机器人系统,研究了其在未知参数和不确定性干扰下的轨迹跟踪控制问题,基于反演技术和自适应滑模控制的思想设计了具有全局渐近稳定的轨迹跟踪控制律。该控制律将系统分解为低阶子系统来处理,利用中间虚拟控制量和部分Lyapunov函数简化了控制器设计,并具有直观的稳定性分析。满足了移动机器人的轨迹跟踪要求,且具有设计方法简单、鲁棒性强的特点。仿真结果验证了所设计控制器的有效性和正确性。

The trajectory tracking control problem for the dynamic model of nonholonomic mobile robot is discussed even in the presence of unknown parameters and bounded uncertainties. Using backstepping technique and adaptive sliding mode control method, a global asymptotically tracking control law is developed. The proposed control law can guarantee that the mobile robot will track the desired trajectory. Furthermore, the propose control law breaks down nonlinear systems into low dimensional systems and simplifies the controller design using virtual control inputs and partial Lyapunov functions. The control law which obtains via the simple method has the strong robustness. Simulation results are provided to illustrate the flexibility and correctness of the controller.