摘要
在轮式移动机器人控制系统状态空间模型的基础上,通过分析两轮独立驱动的移动机器人的动力学方程,给出轮式移动机器人轨迹跟踪控制问题的数学描述;基于线性系统的特征结构配置和模型参考理论提出一种轮式移动机器人轨迹跟踪控制的参数化方法,设计系统的反馈镇定控制器和前馈跟踪控制器。仿真结果表明,提出的控制方案是行之有效的。
Accerding to the analysis of wheeled mobile robot dynamics, the mathematic description of the trajectory tracking control problem is formulated based on the state space representation of trajeetory traeking control system. A parametric approach is proposed for the wheeled mobile robot trajectory tracking problem by using the eigenstructure assignment theory and the model reference theory of linear systems. A feedback stabilizing controller and a feed-forward tracking controller are built. The designed controllers are applied to the wheeled mobile robot control system, and simulation results show the effect of the proposed method.
出处
《东北电力大学学报》
2009年第2期73-78,共6页
Journal of Northeast Electric Power University
关键词
轮式移动机器人
轨迹跟踪
参数化方法
模型参考
wheeled mobile robot
trajectory tracking
parametric approach
model reference
