Trajectory Tracking of The Wheeled Robot Based on Pulse Width Modulation Control

摘要

To address the problem of expensive continuous actuators in the original trajectory tracking control method of the wheeled robot, a more cost-effective pulse width modulation controller is designed in this paper. The controller determines the duty cycle according to the state difference at the sampling instant, so as to change the power of the actuator to achieve the control purpose. Firstly, the mathematical model of the wheeled robot is established. Then, design the position control law based on error feedback. Through the analysis of the Lyapunov stability criterion, it is proved that the proposed control method can make the tracking error converge to zero asymptotically on the premise that the system reference trajectory is known, so as to realize the trajectory tracking. Finally, the effectiveness of the controller is verified by numerical simulation results.