非完整移动机器人的反步跟踪控制

2020 4th International Conference on Advanced Systems and Emergent Technologies (IC_ASET) Pub Date : 2020-12-15 DOI:10.1109/IC_ASET49463.2020.9318221

Imen Hassani, I. Maalej, C. Rekik

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引用次数: 0

摘要

本文旨在开发一种控制律方法来控制轮式移动机器人。本文研究了引导轮式移动机器人沿预定轨迹运动的运动学控制和动力学控制。首先，介绍了移动机器人的运动学模型。其次，利用Backstepping控制器(BSC)对轮式移动机器人进行控制，使其沿着期望的轨迹运动。利用李雅普诺夫稳定性理论实现了系统的稳定性。然后，研究了移动机器人的动力学模型，实现了对移动机器人的实时控制。它是用欧拉-拉格朗日方法表述的。为了改善反步控制器的性能，采用遗传算法设计最优控制律。最后，通过仿真结果验证了所提方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Backstepping tracking control for nonholonomic mobile robot

The present paper aims to develop a control law approach for controlling a wheeled mobile robot. The present work investigates both the kinematic and dynamic control for guiding the wheeled mobile robot to follow the desired trajectory. Firstly, the kinematic model of the mobile robot is introduced. Secondly, the Backstepping controller (BSC) is required for controlling the wheeled mobile robot in order to follow the desired trajectory. The stability of the system is achieved using the Lyapunov stability theory. Then, the dynamic model is investigated in order to control the mobile robot in the real time. It is formulated by using Euler-Lagrange approach. To ameliorate the performance of the backstepping controller, a genetic algorithm was adopted to design an optimal control law. At the end, to prove the efficiency of the developed approach, simulation results are presented.

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2020 4th International Conference on Advanced Systems and Emergent Technologies (IC_ASET)

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