移动机器人轨迹跟踪的参数自校正控制

Parameters Self-turning Control for Trajectory Tracking of Mobile Robots

根据移动机器人运动学模型,对两轮移动机器人的轨迹跟踪问题进行了研究。在动态反馈线性化的基础上,采用基于广义最小方差法实现参数的自校正并设计控制器,考虑到机器人的动力学约束,采取对移动机器人的线速度和角速度加以限制的控制策略,保证机器人的运动平滑。仿真结果表明了该方法的有效性和正确性。

According to mobile robot kinematics model,the problem of trajectory tracking for the two wheels mobile robots is studied. Based on the dynamic linear feedback,the parameters self-turning controller is designed by adopting generalized minimum variance method. Taking into account of robot＇s dynamics bound ,the linear velocity and angular speed limit control strategy for the mobile robots is taken,which is to ensure smooth movement of the robots. Simulation results show that the proposed method is effective and correct.