基于H∞滑模控制的移动机器人轨迹跟踪研究

针对移动机器人轨迹跟踪过程中存在的诸多不确定性,利用Backstepping的思想和Lyapunov方法设计了H∞滑模控制。通过自适应模糊控制来优化滑模控制器的开关增益,从而消除滑模控制中存在的抖振现象。最后分别进行了直线、圆周、正弦三种轨迹跟踪仿真J_1实验,验证了系统的全局渐进稳定性和抗干扰性。证明了该控制算法的有效性。

Rerearch on Mobile Robot Trajectory Tracking Based on H∞ Sliding Mode Control

Aiming at the uncertainties of the mobile robot trajectory tracking processes,an H∞ sliding mode controller was designed by utilizing the ideas of Backstepping and Lyapunov method.The switch gain of the sliding mode controller was optimized by adaptive fuzzy control to eliminate the chattering in sliding mode control.Finally,three trajectory tracking simulation experiments consisting of straight,circular and sinusoidal trajectories were carried out to verify the global asymptotic stability and anti-interference performance of the system,respectively.And the results demonstrate the effectiveness of the control strategy.