基于动力学模型的轮式移动机器人自适应滑模轨迹跟踪控制

Dynamic Model-based Adaptive Sliding-mode Trajectory Tracking Control over Wheeled Mobile Robot

通过对一类质心和几何中心不重合情况下轮式移动机器人控制问题的研究,提出了一种具有全局渐近稳定的自适应滑模轨迹跟踪控制律。首先针对系统的运动学模型,设计了一个运动学控制器;然后基于动力学模型和运动学控制器,利用反演技术和积分滑模控制的思想设计了自适应滑模控制器,该控制器能有效地克服未知扰动的影响。并利用Lyapunov稳定性理论证明了系统的稳定性且跟踪误差收敛,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。最后通过2个仿真算例验证了所提控制律的有效性和正确性。

In order to control a wheeled mobile robot whose mass center does not coincide with its geometrical center,we propose an adaptive sliding-mode trajectory tracking control law that has global asymptotical stability.We design a kinematic controller according to the kinematic model of the wheeled mobile robot.Using the kinematic model and the kinematic controller,we design an adaptive sliding-mode controller with the backstepping technique and the integral sliding-mode control algorithm,which can overcome unknown disturbances effectively.We use the Lyapunov stability theory to prove the stability of the wheeled mobile robot and its tracking error convergence.Our control law satisfies the trajectory tracking requirements for the wheeled mobile robot and has good robustness.Finally,we use two simulation examples to demonstrate the effectiveness and correctness of our control law.