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| 基于引导角的轮式移动机器人轨迹跟踪控制 | |
| 引用本文： | 于浩 宿浩 杨雪 田春鹏 唐功友. 基于引导角的轮式移动机器人轨迹跟踪控制[J]. 控制与决策, 2015, 30(4): 635-639 |
| 作者姓名： | 于浩 宿浩 杨雪 田春鹏 唐功友 |
| 作者单位： | 中国海洋大学信息科学与工程学院 |
| 基金项目： | 国家自然科学基金项目(61074092);山东省自然科学基金项目(ZR2010FM019) |
| 摘 要： | 首先,基于拉格朗日方程建立移动机器人模型;然后,根据侧向误差和角度误差的关系设计引导角,将该引导角作为虚拟输入,结合Backstepping方法设计基于移动机器人运动学模型的轨迹跟踪控制律,并给出参数选取条件;最后,以驱动轮力矩作为控制输入,并考虑到机器人受到的外部扰动,将运动学控制律扩展得到基于动力学模型的控制律.仿真结果表明了所设计控制律的有效性. |
| 关 键 词： | 轮式移动机器人 轨迹跟踪 引导角 Backstepping |
| 收稿时间： | 2014-02-07 |
| 修稿时间： | 2014-04-23 |
Guidance angle based trajectory tracking for wheeled mobile robots |
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| YU Hao SU Hao YANG Xue TIAN Chun-peng TANG Gong-you. Guidance angle based trajectory tracking for wheeled mobile robots[J]. Control and Decision, 2015, 30(4): 635-639 | |
| Authors: | YU Hao SU Hao YANG Xue TIAN Chun-peng TANG Gong-you |
| Affiliation: | YU Hao;SU Hao;YANG Xue;TIAN Chun-peng;TANG Gong-you;College of Information Science and Engineering,Ocean University of China; |
| Abstract: | Firstly, the mobile robot model is built based on the Lagrange function. Then the guidance angle is designed by analyzing the relationship between lateral and angular errors. The kinematics tracking controller is developed with the Backstepping approach by taking the guidance angle as a virtual input. The parameter selection criterion for the controller is also investigated. Finally, by taking the external disturbances into account, the torque controller based on the dynamic modelis obtained. Simulation results show the effectiveness of the proposed method. |
| Keywords: | wheeled mobile robot|trajectory tracking|guidance angle|Backstepping |
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