轮式移动机器人滑移轨迹跟踪控制策略研究

针对轮式移动机器人在滑移条件下的轨迹跟踪问题，提出一种自适应模糊控制策略。利用模糊状态观测器对未知的复杂系统模型进行速度估计和补偿，通过设计输出向量将位置约束转换为输出约束，并构造Barrier Lyapunov函数来保证机器人的运动约束，在此基础上设计更简单的纵向滑移模型，利用李亚普诺夫定理分析闭环系统的稳定性，证明了闭环系统中所有信号都是有界的。最后通过仿真和实验验证了自适应模糊控制策略在轮式机器人纵向滑移情况下的有效性和实用性。

Research on Sliding Trajectory Tracking Control Strategy of Wheeled Mobile Robot

Aiming at the trajectory tracking problem of wheeled mobile robot under sliding condition,an adaptive fuzzy control strategy was proposed.The fuzzy state observer was used to estimate and compensate the speed of the unknown complex system model,the position constraint was transformed into the output constraint by designing the output vector,and the Barrier Lyapunov function was constructed to ensure the motion constraint of the robot.On this basis,a simpler longitudinal sliding model was designed,and the stability of the closed-loop system was analyzed by Lyapunov theorem.It is proved that all signals in the closed-loop system are bounded.Finally,the effectiveness and practicability of adaptive fuzzy control strategy in the case of longitudinal sliding of wheeled robot are verified by simulation and experiment.