移动机器人自适应轨迹跟踪控制

Adaptive Trajectory Tracking Control of Mobile Robot

针对移动机器人跟随者受到未知扰动时的轨迹跟踪控制的问题,提出一种基于自适应控制算法的轨迹跟踪控制方案。当领航者速度无法测量时,从速度恒定和时变两种情况设计,采用扰动观测器对跟随者的未知扰动进行观测估计,设计一种新的运动学控制器,使跟随者在未知扰动作用下准确跟踪目标轨迹。基于Lyapunov理论证明观测器-控制器闭环系统的稳定性,观测器估计误差和跟踪误差最终收敛到有界范围内。通过仿真实验验证了该控制方法的有效性。

As the followers of the mobile robot is affected by unknown disturbances for such trajectory tracking control problem,a trajectory tracking control scheme based on adaptive control algorithm is proposed.When the navigator’s velocity cannot be measured,the design is based on such two conditions of constant velocity and time-varying.First,a disturbance observer is used to observe and estimate the unknown disturbance of the followers,and a new kinematics controller is designed to make the followers accurately track the target trajectory under the unknown disturbance.Then the stability of the observer-controller closed-loop system based on the Lyapunov theory is proved,the observer estimation error and tracking error finally converge in a bounded range.Finally,the effectiveness of the designed control method is verified by simulation experiments.