摘要： 为解决非完整移动机器人的轨迹跟踪问题，提出一种基于滑模变结构的移动机器人轨迹跟踪控制方法。以移动机器人的运动模型为基础，采用有限时间控制方法，设计连续状态反馈角速度的控制律，以减少前向角误差，在前向角误差趋于0时，使用反演设计的滑模控制技术，给出平面坐标跟踪误差线速度的控制律。实验结果表明，该方法控制律能够在极短时间内趋于稳定，收敛以后的平面坐标误差和航向角方向误差几乎为0。
关键词:
移动机器人,
滑模变结构,
轨迹跟踪,
运动模型,
有限时间,
Lyapunov函数
Abstract: In order to solve the problems of the nonholonomic mobile robot trajectory tracking, a mobile robot trajectory tracking control method based on sliding mode variable structure control is presented. Based on motion model of mobile robot, a continuous state feedback control law for the angler velocity is proposed to asymptotically reduce the tracking error of the heading angle by using the finite time control method. With the error of the heading angle reaching equilibrium condition at the origin, the other control law for the linear velocity which gives the tracking error of the planar coordinate is designed by using the sliding mode variable structure control theory on basis of backstepping. Experimental result shows that the control laws of this method are tending towards stability in a very short time, the tracking error of the planar coordinate and the error of the heading angle are almost zero.
Key words:
mobile robot,
sliding mode variable structure,
trajectory tracking,
motion model,
finite time,
Lyapunov function
中图分类号:
张扬名, 刘国荣, 杨小亮. 基于滑模变结构的移动机器人轨迹跟踪控制[J]. 计算机工程, 2013, 39(5): 160-164.
ZHANG Yang-Ming, LIU Guo-Rong, YANG Xiao-Liang. Mobile Robot Trajectory Tracking Control Based on Sliding Mode Variable Structure[J]. Computer Engineering, 2013, 39(5): 160-164.