基于再生核理论实现对智能机器人的轨迹跟踪控制

基于再生核理论给出了对轮动式移动机器人轨迹跟踪控制问题的一种新的解决方法。该方法不同于人们通常采用的传统类型方法，它是对有限时间内的期望轨迹进行采样，基于动力学模型方程，利用再生核方法，数值求解控制参数，从而对机器人进行控制操作，实现转动速度、前进速度均不为零的期望轨迹跟踪。该方法具有操作简单、计算量小、精度高、实现跟踪的期望轨迹可为任意的非线性曲线等诸多优点。在数值实验里，取得了理想的效果。

Tracking Control for Intelligent Robots Based on Reproducing Kernel Theory

A new method for trajectory tracking of wheeled mobile robots is presented based on the theory of reproducing kernel.This method is different from usuall control methods used, It samples on the desired trajectory within finite time, and it uses the numerical method for solution of the control parameters by the theory of reproducing kernel based on the dynamic equations, so as to control the mobile robots to track the desired trajectory of the rotational velocity and the forward velocity being both nonzero.The proposed method has many advantages such as less work, less computation demand, higher precision, as well as the desired trajectory being any more complex nonlinear curve and other more than any usuall methods. Numerical experiment results show the effectiveness of the proposed method.