基于反馈增益反步法的非完整约束移动机器人路径跟踪控制

为实现非完整约束轮式机器人的路径跟踪控制,采用虚拟向导方法建立跟踪误差方程,基于李亚普诺夫稳定性理论,设计了一种基于反馈增益的反步法控制器,既能通过控制反馈增益的调节补偿机器人动态误差模型中的非线性项对系统的影响,又能避免传统反步法控制器中存在虚拟控制的高阶导数的问题。仿真结果表明:设计的控制器参数易于调节,可实现轮式移动机器人对任意曲线路径的精确跟踪。

Path-following controller for non-holonomic mobile robots based on feedback gain backstepping

In order to implement the path following control of wheeled mobile robot with non-holonomic constraint,the tracking error equations are established according to the virtual target method.Based on Lyapunov stability theorem,the backstepping method is designed using feedback gain technique.By tuning of the controller’s feedback gain,the nonlinear terms in the error dynamic model can be compensated without direct use of nonlinear cancellation.This can also avoid the existence of high-order derivative of the predefined virtual control variable which is different from the traditional backstepping technique.Simulation results show that the parameters of the controller are easy to be adjusted,and can make wheeled mobile robot to track the desired arbitrary path precisely.