摘要
本文提出了一种新的移动机器人轨迹跟踪控制方法。为了精确跟踪预定轨迹,采用有限时间控制策略将移动机器人的误差动力学分为两个子系统。首先,为一阶系统设计了角速度的全局有限时间控制律,以稳定移动机器人的角度误差。然后,设计了有限时间前向速度滑模控制律,所设计的控制系统具有全局稳定性。此外,利用李雅普诺夫控制理论分析了整个闭环系统的全局一致稳定性。最后,将所提出的控制算法应用于移动机器人,仿真结果表明了良好的收敛性和性能。
This paper presents a new method of trajectory tracking control for mobile robots. In order to ac-curately track the predetermined trajectory, the finite time control strategy is used to divide the error dynamics of the mobile robot into two subsystems. Firstly, a global finite-time control law of angular velocity is designed for the first-order system to stabilize the angular error of the mobile robot. Then, a finite time forward velocity sliding mode control law is designed, and the designed control system has global stability. In addition, the global uniform stability of the whole closed-loop system is analyzed by using Lyapunov control theory. Finally, the proposed control algorithm is applied to the mobile robot, and the simulation results show good convergence and performance.
出处
《理论数学》
2023年第8期2260-2266,共7页
Pure Mathematics