基于Backstepping时变反馈和PID控制的移动机器人实时轨迹跟踪控制

根据机器人的运动学模型，采用分层控制的思想将移动机器人的轨迹跟踪控制分为两部分：轨迹跟踪控制器和机器人速度PID控制器。基于Backstepping时变状态反馈方法和Lyapunov理论，引入具有双曲正切特性的虚拟反馈量，提出一种移动机器人全局轨迹跟踪算法：采用PID速度控制器以满足机器人驱动电机实时调速要求。考虑到机器人的动力学约束，引入受限策略以保证其运动平滑。在基于DSP的两轮驱动移动机器人上对算法进行了实时轨迹跟踪试验，取得了满意的控制效果。

Real-time trajectory tracking control of mobile robot based on Backstepping time-varying state feedback and PID control method

According to the kinematic model of mobile robot using the thought of hierarchical con-trol, the tracking control of the mobile robot is divided into two parts: trajectory controller and ro-bot velocity PID controller. Based on Backstepping time-varying statefeedback method and Lyapunovtheory, a global tracking control algorithm is presented by introducing the virtual feedback variable,which has the property of tangent. The PID velocity controller is used to meet the demand ofreal-time control of the speed of drive motors. Considering the dynamic contract of the mobile robot,the limited strategy is used to ensure the smooth motion of the robot. At last, the tracking controlexperiments are carried on the two-wheel driven mobile robot based on DSP. The experiment resultsare satisfied.