非完整轮式移动机器人反演滑模轨迹跟踪控制器设计

摘要

For tracking the trajectory of wheeled mobile robots, a backstepping-based sliding-mode control scheme is presented. An equivalent control law is obtained by using Pl-type sliding surface and a switching control law is gotten by replacing sign function by variable rate function. The stability of the system is proved by Lyapunov theory. Simulation results show the effectiveness and cor-rectness of the proposed method and the improvement of the chattering phenomenon in the system. Even though external disturb-ances exist, the proposed approach is of a satisfactory control quality.%针对轮式移动机器人的轨迹跟踪问题，提出了一种反演滑模控制方法。采用PI型滑模面设计等效控制律，利用变速函数代替了符号函数得到切换控制律，并利用Lypunov定理证明了系统的稳定性。仿真结果表明了该方法的有效性和正确性，控制中出现的抖振现象得到改善，在外界干扰影响下，也具有良好的控制品质。