基于Backstepping方法的移动机器人路径跟踪问题研究

Research on Path Tracking Problem of the Mobile Robot Based on Backstepping

中文关键词:  轮式移动机器人  Backstepping  Lyapunov  路径跟踪

英文关键词:wheeled mobile robot  Backstepping  Lyapunov  path tracking

中文摘要:

      针对轮式移动机器人的路径跟踪问题以及其非完整特性，引入一种新的虚拟反馈量，使用反演法设计了路径跟踪控制器。首先通过移动机器人的运动学模型得出其运动学位姿误差微分方程，然后基于Backstepping(逐步后推)方法设计控制器，通过构造的Lyapunov函数证明了所设计的控制器的稳定性；最后用Matlab进行仿真以及SM35机器人进行实验，结果表明，所设计的控制器能使移动机器人以任意小的误差跟踪任意给定的参考路径。

英文摘要:

      To solve the path tracking problem and perfect nonholonomic characteristic of the mobile robot,a new virtual feedback quantity is introduced,and the thought of Backstepping is used to design the path tracking controller.Firstly，the kinematics position and posture errors differential equation is achieved through the kinematics model of the mobile robot,and then the controller is designed based on Backstepping，the stability of the designed controller is proved through the Lyapunov function.Finally,the results of Matlab simulation and SM35 robot test show that the reference trajectory can be followed globally with an arbitrarily small tracking error.