基于终端滑模的移动机器人轨迹跟踪控制

Trajectory Tracking Control of Mobile Robots Based on Terminal Sliding Mode

分析了具有不确定性非完整约束移动机器人系统的轨迹跟踪问题。在运动学模型分析的基础上,利用非奇异终端滑模技术,提出了一种新的轨迹跟踪控制算法,该算法消除了传统滑模控制带来的奇异问题。基于后退方法的思想设计系统状态变量,将系统分解为低阶子系统处理,简化了控制律的设计。结合Lyapunov方法,证明了在该控制律作用下,对满足一定速度条件的期望轨迹,移动机器人完全能够实现轨迹跟踪。仿真实验结果表明了该方法的有效性。

The trajectory tracking control problem of the uncertain mobile robot with nonholonomic constraints was analyzed . A new trajectory tracking control algorithm was presented based on the kinematic models analysis, the non-singular terminal sliding mode technique was used and the singularity problem was eliminated. The system state vector was designed using backstepping method, this method broke down nonlinear systems into low dimensional systems and simplified the controller design. By combining Lyapunov method, it was proved that under this control law, the mobile robot could track the desired trajectory when the desired velocity satisfied some assumptions. Simulation results validate the theoretical analysis.