基于滑模双幂次趋近律的轮式机器人轨迹跟踪控制

Trajectory Tracking Control of Wheeled Mobile Robots Based on Sliding-mode Control with Double-power Reaching Law

针对轮式移动机器人的轨迹跟踪控制问题,首先,通过对系统运动学的分析建立了跟踪误差模型,然后,采用双幂次趋近律设计了轨迹跟踪滑模控制律.以设计的控制律为控制输入,并在考虑到机器人受到外部干扰的情况下进行了仿真验证,结果表明,所设计的控制律跟踪速度快,抗干扰能力强.

Absturct:The author raises the question towards the trajectory tracking tfor he wheeled mobile robors in this paper. Firstly, the tracking error model is established by analysis of the system kinematics; Secondly, the trajectory tracking sliding mode control law is designed by means of the double-power reaching law; Finally, the emulation proof is made under the condition that the robots are interfered from the external disturbance. It turns out that the designed control law is characteristic of fast tracking velocity and powerful antijamming capability.