基于退步法的独轮车轮式移动机器人跟踪控制

2020 International Conference on Computer, Control, Electrical, and Electronics Engineering (ICCCEEE) Pub Date : 2021-02-26 DOI:10.1109/ICCCEEE49695.2021.9429613

Walied M. E. Mahgoub, I. Sanhoury

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引用次数: 0

摘要

针对轮式移动机器人的运动轨迹稳定问题，提出了一种基于后退法的时变反馈跟踪控制方法。该跟踪控制器基于WMR的单轮车式运动模型。渐近稳定性通过一个完备的李雅普诺夫函数实现和验证。仿真结果表明了该控制器的有效性。圆形轨迹作为WMR的期望路径生成。结果表明，所提反步跟踪控制器的姿态误差和速度性能均优于基准控制器。

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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Tracking Control of Unicycle-type Wheeled Mobile Robot Utlizing Backstepping Approach

A time-varying feedback tracking control is proposed to stabilize the trajectory of wheeled mobile robot (WMR) relied on backstepping approach. The tracking controller is based on unicycle-type kinematic model of WMR. Asymptotical stability is realized and verified via a well established Lyapunov Function. The simulation results show the effectiveness of the proposed controller. The circular trajectory is generated as a desired path for the WMR. It’s found that, the performance of the posture errors and velocities for the proposed backstepping tracking controller is superior to the benchmarked controller.

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2020 International Conference on Computer, Control, Electrical, and Electronics Engineering (ICCCEEE)

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