一种轮式移动机器人的轨迹跟踪控制方法研究

Research on Trajectory Tracking Control of a Kind of Wheeled Mobile Robots

建立了局部坐标系下用直角坐标表示的非完整轮式移动服务机器人的位姿误差模型,提出了一种新的非线性状态反馈轨迹跟踪控制律,使机器人闭环系统状态空间方程具有原点孤立平衡状态.通过分析在该控制律作用下的闭环系统的原点局部一致渐近稳定性和在非原点孤立边界平衡状态的不稳定性,确定了控制器参数的取值范围.用李雅普诺夫候选函数方法,得出了在该控制律作用下的闭环系统在原点具有全局一致渐近稳定性的结论.仿真结果验证了所设计控制器的有效性.

A posture error model of nonholonomic wheeled mobile service robot denoted by cartesian coordinates in local coordinates was established. A novel nonlinear state feedback trajectory tracking control law was proposed,which causes closed-loop system state space equation of robot to isolate equilibrium state at origin.Through analyzing the local uniform asymptotical stability at origin and the instability of isolated boundary equilibrium state at non-origin under the proposed trajectory tracking control law,the scale of control parameters was confirmed. By Lyapunov candidate function method,this paper concluded that the closed-loop system is globally uniformly asymptotically stable at origin. Simulation results show the effectiveness of the proposed control law.