摘要
针对轮式移动机器人的运动学模型,通过设计复合跟踪误差,利用Lyapunov直接法,构造出了具有全局渐近稳定的全局渐近跟踪控制器,实现对参考轨迹的全局渐近跟踪,并根据Lyapunov稳定性定理证明了系统的全局渐近稳定性。最后,给出的仿真结果表明,初始跟踪误差很快收敛于零,轨迹跟踪效果良好,闭环系统具有良好的动态性能和全局稳定性,适用于轮式移动机器人的全局轨迹跟踪控制。
Based on wheeled mobile robot’s kinematics’ model, through designing the complex tracking error variables, a global asymptotically stable controller is designed via Lyapunov direct method. Using this control method, the reference trajectory is accurately tracked. Meanwhile, stability of the rule is proved through the use of Lyapunov stability theorem. Simulation results indicate that the methodology can make the trajectory tracking error convergence quickly and guarantee the trajectory tracking effect greatly. Moreover, the close-loop system has great dynamic characteristics and global stability. The proposed method can apply to the global trajectory tracking control for wheeled mobile robot.
出处
《火力与指挥控制》
CSCD
北大核心
2010年第7期87-89,共3页
Fire Control & Command Control
