Design of adaptive trajectory tracking controller for nonholonomic mobile robots

LI Hui-lai; LI Xiao-min; CHEN Jing-hua

doi:10.13873/j.1000-97872011.05.037

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Design of adaptive trajectory tracking controller for nonholonomic mobile robots

更新时间：2025-09-11

- Design of adaptive trajectory tracking controller for nonholonomic mobile robots
- Vol. 30, Issue 5, Pages: 104-106+109(2011)
- 作者机构：
  
  军械工程学院光学与电子工程系
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872011.05.037
  CLC： TP242
- Published：2011
- 稿件说明：
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[1]李会来,李小民,陈静华.非完整移动机器人轨迹跟踪自适应控制器设计[J].传感器与微系统,2011,30(05):104-106+109.

LI Hui-lai, LI Xiao-min, CHEN Jing-hua. Design of adaptive trajectory tracking controller for nonholonomic mobile robots[J]. 2011, 30(5): 104-106+109.
[1]李会来,李小民,陈静华.非完整移动机器人轨迹跟踪自适应控制器设计[J].传感器与微系统,2011,30(05):104-106+109. DOI： 10.13873/j.1000-97872011.05.037.

LI Hui-lai, LI Xiao-min, CHEN Jing-hua. Design of adaptive trajectory tracking controller for nonholonomic mobile robots[J]. 2011, 30(5): 104-106+109. DOI： 10.13873/j.1000-97872011.05.037.

摘要

针对轮式移动机器人的非完整运动学模型

将自适应反演控制技术和李亚普诺夫稳定性理论应用于机器人轨迹跟踪控制

设计了具有全局渐近稳定性的自适应轨迹跟踪控制器

并在Matlab环境下实现了移动机器人对直线和椭圆2种轨迹追踪的仿真实验。实验表明:该控制方法在轨迹跟踪控制中有较好的航向跟踪效果

对机器人非完整系统模型的非线性特性表现出良好的有效性和自适应性。

Abstract

To deal with the model of nonholonomic kinematics for mobile robots

adaptive backstepping control and Lyapunov’s stability theory are applied to the robot trajectory tracking control

an adaptive trajectory tracking controller with global asymptotic stability are designed.The simulation experiment of tracking linear and elliptical trajectory under the proposed controller for mobile robot is performed under Matlab environment.The result shows that this control method has better navigational tracking effect as well as good effectiveness and well adaptability to the nonlinear characteristic of nonholonomic system model of mobile robots.

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references

基于Backstepping方法的车式移动机器人轨迹追踪控制 [J]. 李胜,马国梁,胡维礼. 东南大学学报(自然科学版) . 2005(02)

基于Backstepping时变反馈和PID控制的移动机器人实时轨迹跟踪控制 [J]. 徐俊艳,张培仁,程剑锋. 电机与控制学报 . 2004(01)

非协调移动机器人的变结构跟踪控制 [J]. 李俊,徐德民,任章. 机械科学与技术 . 2002(02)

未知环境中移动机器人导航控制理论与方法[M]. 科学出版社 , 蔡自兴, 2009

机器人控制系统的设计与MATLAB仿真[M]. 清华大学出版社 , 刘金琨编著, 2008

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