基于反步设计法的四轮移动机器人运动控制研究

Research of Motion Control System for Four-wheel Mobile Robot Based on Backstepping Design Method

为了对复杂环境下四轮移动机器人的运动进行控制,根据其运行原理,建立了四轮移动机器人的数学模型。考虑到复杂环境下四轮移动机器人的运行特点,基于反步设计法的运动控制规律,对四轮移动机器人的硬件系统和软件系统进行设计,以此来提高复杂环境下对四轮移动机器人的运动控制。

In order to control the movement of the four-wheel mobile robot in a complex environment,this paper establishes a mathematical method of the four-wheel mobile robot based on the operating principle of them.This paper considers the operating characteristics of the four-wheel mobile robot in a complex environment,and designs the hardware system and software system of the four-wheel mobile robot,based on the control law of the backstepping design method.This can improve the motion control of the four-wheel mobile robot in complex environment.