基于Lyapunov稳定性理论的移动机器人轨迹跟踪控制

Trajectory Tracking Control of Nonholonomic Mobile Robot Based on the Lyapunov Stability Theory

针对非完整轮式移动机器人的高度强耦合、欠驱动非线性动力学模型,设计了运动学控制器以及动力学力矩控制器,使得移动机器人轨迹能够跟踪理想轨迹。这种方法的实质是首先设计虚拟速度控制器,输出速度的期望值,然后设计基于模型的力矩控制器。最后通过simulink软件对所设计的系统进行仿真,结果表明对于非完整机器人的轨迹跟踪这种控制方法效果较好。

In view of the nonholonomic wheeled mobile robot’s high-intensity coupling and underdrive nonlinear dynamic model,the speed controller and dynamic torque controller are designed,to optimize trajectory tracking.The nature of this method is to de⁃sign the virtual speed controller first,output the expected speed and then design the model-based torque controller.Lastly,simula⁃tion conducted through simulink shows that this control method delivers a better result for nonholonomic robots.