一种改进的非完整轮式移动机器人轨迹跟踪控制方法

AImproved Nonholonomic Wheeled Mobile Robot Trajectory Tracking Control Method

针对非完整约束下移动机器人的轨迹跟踪控制中误差收敛速度和平滑性上存在的不足,提出了一种改进的非线性反推跟踪控制算法。在运动学模型的基础上,构造了简单的虚拟变量推导出了反推控制律,且通过Lyapunov函数证明了该控制律的稳定性,并引入了一个反馈控制律,得到了一种新型轨迹跟踪控制器。MATLAB仿真分析表明:改进的非线性反推控制律很好地改善了控制效果,跟踪误差能在较短的时间内收敛,具有良好的抗干扰能力。

To make up disadvantage of error convergence speed and smoothness on the non-complete constraint trajectory tracking of mobile robot control. A improved nonlinear backstepping tracking control method was designed. On the basis of the kinematic model, a simple dummy variables was constructed and then back-stepping control law was deduced, and the stability of the control law was proved by Lyapunov function, also a feedback control was inserted, and then a new trajectory tracking controller was got. MATLAB simulation results show that the improved nonlinear backstepping control law well have been improved, the tracking error can converge in a short period of time, has a good anti-jamming capability.