一种新型的移动机器人轨迹跟踪控制方法

主要是对非完整约束下移动机器人的轨迹跟踪控制进行了研究，提出了一种新型的基于移动机器人运动模型、具有全局渐近稳定性的跟踪控制方法。这种非线性控制方法主要分为前馈和反馈两个部分：前馈部分是一种滑模控制器，它是基于反演设计的思想设计了切换函数，采用指数趋近律，减少了滑模变结构控制的抖动，并使用Lyapunov第一法对控制系统进行了稳定性分析，证明了滑模跟踪控制器是稳定的；反馈部分是基于Lyapunov函数的方法设计的反馈控制器。通过前馈部分和反馈部分的相互作用，提高了移动机器人轨迹跟踪控制的精度。实验结果表明与一般的跟踪控制方法相比，控制效果明显改善，跟踪误差能在较短时间内收敛，具有很好的抗干扰性能。

Novel trajectory-tracking control method for mobile robots

This paper is mainly to study trajectory tracking control method for nonholonomic mobile robot which is based on kinematic model, with global asymptotic stability. The nonlinear control method is made up of feedforward signal and feedback signal. A feedforward part is variable structure control. Switch function of variable structure control is designed based on the backstepping method. In order to weaken chattering, the exponential rate reaching rule is used in the sliding mode variable struc- ture control. The first method of Lyapunov is used to analyse the stability of control system, and prove that the sliding mode tracking controller is stable. A feedback part is a controller which is developed based on a Lyapunov approach. Through the inter- action of the feedforward part and the feedback part, the precision for mobile robot trajectory tracking control is improved. The experimental results show that the control effect is improved obviously compared with the common method, the tracking error can be in a relatively short period of convergence. The control method has the very good anti-disturbance performances.