基于综合导向的车式移动机器人轨迹跟踪控制

分析了具有不确定性和非完整约束的车式移动机器人系统的轨迹跟踪问题.基于运动学模型分析,提出一种自适应的轨迹跟踪控制方法.通过引入状态微分反馈实现系统的镇定.同时引入人工场,使其和位姿误差一起作用于控制系统,从而改善了对车式移动机器人的导航控制.运用Lyapunov稳定性理论证明了控制器的稳定性.直线和圆周两种轨迹跟踪的仿真实验表明,该控制方法能够使四轮车式移动机器人在导航中具有理想的跟踪轨迹.

Trajectory Tracking Control of Car-Like Mobile Robot Based on Integrated Steering

The problem of trajectory tracking of an uncertain car-like mobile robot with nonholonomic constraints is analyzed,and an adaptive trajectory tracking control method is presented based on the analyses of kinematic mo-(dels).In the proposed control method,a state differential feedback procedure is used to stabilize the robot and an artificial field combined with the posture error is introduced to navigate the robot.The robustness of the proposed controller is then confirmed by means of Lyapunov stability theory.Simulated results of the robot respectively(tracking) a line and a circle indicate that the proposed method enables the robot to track an ideal trajectory in the navigation.