纵向打滑状态下轮式移动机器人轨迹跟踪控制

针对轮式移动机器人纵向打滑状态下滑动参数未知的轨迹跟踪控制问题，提出了一种轨迹跟踪控制方法。建立了纵向打滑状态下移动机器人的运动学模型，用滑动 参数表示左右轮的打滑程度；设计合适的滑模观测器对未知的滑动参数进行估计，并通过低通滤波器减少抖振对估计结果产生的影响；基于Lyapunov直接法设计轨迹跟踪控制律，并提出了一种根据控制系统的极点分布确定控制参数的方法。仿真结果验证了所提方法的准确性和有效性。

Trajectory Tracking Control of Wheeled Mobile Robots under Longitudinal Slipping Conditions

An trajectory tracking control of mobile robots was presented  based on wheeled mobile robots with unknown longitudinal slip  parameters.Firstly，the kinematic model of the mobile robots under  longitudinal slips was established，and the sliding parameters were used  to express the slip degrees of the left and right wheels.Then，a  suitable sliding mode observer was designed to estimate unknown slip  parameters，and the influences of chatters on estimation of slip  parameters were reduced by using the low-pass filters.Finally，a  trajectory tracking control law was designed based on Lyapunov direct  method，and a method of determine the control parameters was proposed  according to the pole distributions of the control systems.Numerical  simulation results show that the proposed trajectory tracking control  method is accurate and effective.