A combined backstepping and fractional-order PID controller to trajectory tracking of mobile robots

IF 3.2 Q2 AUTOMATION & CONTROL SYSTEMS
Lin Xu, Jiaqiang Du, Baoye Song, Maoyong Cao
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引用次数: 7

Abstract

Trajectory tracking is a critical problem in the field of mobile robotics. In this paper, a control scheme combined with backstepping and fractional-order PID is developed for the trajectory tracking of the differential-drive mobile robot. The kinematic and dynamic models of the mobile robot are described in detail for the trajectory tracking controller design. Then, based on the model of the mobile robot, the design of the trajectory tracking control system is addressed by combining backstepping with fractional-order PID. Moreover, to obtain an optimal control system, an improved beetle swarm optimization algorithm is presented to tune the parameters of the kinematic and dynamic controllers simultaneously. Finally, several simulations are implemented to the trajectory tracking of mobile robots in the cases with and without skidding and sliding, and the results can confirm the effectiveness and superiority of the combined control scheme. Abbreviations: FOPID: fractional-order PID; FOPD: fractional-order PD; DDMR:differential-drive mobile robot; BAS: beetle antennae search; BA: beetle antennae; PSO:particle swarm optimization; BSO: beetle swarm optimization.
一种基于反步和分数阶PID的移动机器人轨迹跟踪组合控制器
轨迹跟踪是移动机器人领域的一个关键问题。针对差动驱动移动机器人的轨迹跟踪问题,提出了一种将步进与分数阶PID相结合的控制方案。详细描述了移动机器人的运动学模型和动力学模型,用于轨迹跟踪控制器的设计。然后,在移动机器人模型的基础上,采用回溯法和分数阶PID相结合的方法进行了轨迹跟踪控制系统的设计。此外,为了获得最优控制系统,提出了一种改进的甲虫群优化算法,同时对运动控制器和动态控制器的参数进行整定。最后,对移动机器人在有滑动和无滑动两种情况下的轨迹跟踪进行了仿真,结果验证了该组合控制方案的有效性和优越性。FOPID:分数阶PID;FOPD:分数阶PD;DDMR:差动驱动移动机器人;BAS:甲虫触角搜索;BA:甲虫触角;PSO:粒子群优化;BSO:甲虫群优化。
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来源期刊
Systems Science & Control Engineering
Systems Science & Control Engineering AUTOMATION & CONTROL SYSTEMS-
CiteScore
9.50
自引率
2.40%
发文量
70
审稿时长
29 weeks
期刊介绍: Systems Science & Control Engineering is a world-leading fully open access journal covering all areas of theoretical and applied systems science and control engineering. The journal encourages the submission of original articles, reviews and short communications in areas including, but not limited to: · artificial intelligence · complex systems · complex networks · control theory · control applications · cybernetics · dynamical systems theory · operations research · systems biology · systems dynamics · systems ecology · systems engineering · systems psychology · systems theory
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