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针对纵向滑动参数未知的轮式移动机器人的轨迹跟踪问题,提出一种自适应跟踪控制策略.利用两个未知参数来描述移动机器人左右轮的纵向打滑程度,建立了产生纵向滑动的差分驱动轮式移动机器人的运动学模型;设计了补偿纵向滑动的自适应非线性反馈控制律;应用Lyapunov稳定性理论与Barbalat定理证明了闭环系统的稳定性;同时,提出了一种由极点配置方法在线调整控制器增益的方法.仿真结果验证了所提出控制方法的有效性.
Aiming at the trajectory tracking problem of wheeled mobile robot with unknown longitudinal sliding parameters, an adaptive tracking control strategy is proposed. Two unknown parameters are used to describe the longitudinal slippage of the left and right wheels of the mobile robot, and a differential drive wheel The kinematics model of the robot is designed, the adaptive nonlinear feedback control law to compensate longitudinal sliding is designed, the stability of the closed-loop system is proved by applying the Lyapunov stability theory and Barbalat’s theorem. At the same time, The method of gain is validated by simulation results.