| 轮式机器人滑模轨迹跟踪控制器设计 |
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| 引用本文： | 张金学,李媛媛. 轮式机器人滑模轨迹跟踪控制器设计[J]. 智能计算机与应用, 2012, 0(1): 53-55,58 |
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| 作者姓名： | 张金学 李媛媛 |
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| 作者单位： | 淮海工学院电子工程学院 |
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| 摘 要： | 轮式机器人是一个典型的非完整性系统。由于非线性和非完整特性,很难为移动机器人系统的轨迹跟踪建立一个合适的模型。介绍了一种轮式机器人滑模轨迹跟踪控制方法。滑模控制是一个鲁棒的控制方法,能渐近的按一条所期望的轨迹稳定移动机器人。以之为基础,描述了轮式机器人的动力学模型并在二维坐标下建立了运动学方程,根据运动学方程设计滑模控制器,该控制器使得机器人的位置误差收敛到零。
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| 关 键 词： | 滑模控制 轨迹跟踪 动力学模型 非完整系统 |
Design of Sliding-Mode Trajectory-Tracking Controller for Wheeled Mobile Robots |
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| ZHANG Jinxue,LI Yuanyuan. Design of Sliding-Mode Trajectory-Tracking Controller for Wheeled Mobile Robots[J]. INTELLIGENT COMPUTER AND APPLICATIONS, 2012, 0(1): 53-55,58 |
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| Authors: | ZHANG Jinxue LI Yuanyuan |
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| Affiliation: | (School of Electronic Engineering,Huaihai Institute of Technology,Lianyungang Jiangsu 222005,China) |
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| Abstract: | Wheeled mobile robot is a classical nonholonomic system.Because of the nonlinear and nonholonomic properties,it is difficult to establish an appropriate model of the mobile robot system for trajectory tracking.This paper presents a sliding mode trajectory tracking control method for wheeled mobile robots.Sliding mode control is a robust control law which can asymptotically stabilize the mobile robot to a desire trajectory.In this paper,after describing the dynamic model for mobile robot,the kinematics equations are established in the two dimensional coordinates.According to the kinematics quations,the sliding mode controller is designed which can converge the location error of mobile robot to zero. |
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| Keywords: | Sliding Mode Control Trajectory Tracking Dynamic Model Nonholonomic System |
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