| 具有参数不确定性的轮式移动机器人自适应backstepping控制 |
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| 引用本文： | 孙棣华,崔明月,李永福.具有参数不确定性的轮式移动机器人自适应backstepping控制[J].控制理论与应用,2012,29(9):1198-1204. |
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| 作者姓名： | 孙棣华 崔明月 李永福 |
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| 作者单位： | 重庆大学自动化学院,重庆,400044 |
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| 基金项目： | 重庆市科技攻关计划资助项目(2011AB2052); 重庆市自然科学基金资助项目(CSTC2012JJB40002). |
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| 摘 要： | 针对参数不确定的轮式移动机器人的轨迹跟踪问题,设计自适应跟踪控制器.基于移动机器人的动力学模型,采用backstepping积分方法,通过逐步递推选择适当的Lyapunov函数,设计基于状态反馈的自适应控制器,并进行了相应的稳定性分析.与传统PID控制进行仿真对比,结果表明提出的自适应控制策略能较好地补偿系统参数摄动的影响,提高了移动机器人的轨迹跟踪性能和鲁棒性.
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| 关 键 词： | 轮式移动机器人 自适应反演控制 轨迹跟踪 参数不确定性 |
| 收稿时间： | 2011/9/14 0:00:00 |
| 修稿时间： | 2012/2/21 0:00:00 |
Adaptive backstepping control of wheeled mobile robots with parameter uncertainties |
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| SUN Di-hu,CUI Ming-yue and LI Yong-fu.Adaptive backstepping control of wheeled mobile robots with parameter uncertainties[J].Control Theory & Applications,2012,29(9):1198-1204. |
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| Authors: | SUN Di-hu CUI Ming-yue and LI Yong-fu |
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| Affiliation: | College of Automation, Chongqing University,College of Automation, Chongqing University,College of Automation, Chongqing University |
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| Abstract: | Based on the dynamics model of wheeled mobile robots, an adaptive backstepping method is used to design the controller for tracking the trajectory of wheeled mobile robots with parameter uncertainties. The adaptive control laws based on the state feedback are developed with backstepping approach through a step-by-step selection of appropriate Lyapunov function. The motion stability of the wheeled mobile robot is proved by using the Lyapunov stability theory. Simulation results show that the proposed method greatly compensates the effects of parameter uncertainties and improves the system tracking accuracy and robustness, in comparison with traditional PID control laws. |
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| Keywords: | wheeled mobile robot adaptive backstepping control trajectory tracking parameter uncertainties |
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