三轮驱动移动机器人轨迹跟踪控制

摘要

针对三轮驱动移动机器人在轨迹跟踪控制过程中运动不平滑的问题,建立了移动机器人在一定运动约束条件下的运动学模型.根据移动机器人位姿误差微分方程的描述,设计了基于后退时变状态反馈方法的移动机器人轨迹跟踪控制器.基于李雅普诺夫方法,对轨迹跟踪控制器的稳定性进行了分析,证明了该控制器能够保证闭环系统全局一致渐进稳定.仿真结果验证了运动学模型的正确性,以及轨迹跟踪控制器的有效性.%A kinematic model of mobile robot with certain constraints of motion was established for unsmooth motion of three-wheeled mobile robot in the process of trajectory tracking control.According to the description of differential equation of mobile robot's position and orientation error, a trajectory tracking controller based on back stepping and time-varying state feedback was designed.It was proved that the controller could guarantee the uniformly asymptotical stability of the closed-loop system, according to the stability analysis of trajectory tracking controller.The simulation results verify the correctness of the kinematic model and the effectiveness of trajectory tracking controller.