[1]李胜,马国梁,胡维礼.基于Backstepping方法的车式移动机器人轨迹追踪控制[J].东南大学学报(自然科学版),2005,35(2):248-252.[doi:10.3969/j.issn.1001-0505.2005.02.019]
 Li Sheng,Ma Guoliang,Hu Weili.Tracking control of car-like mobile robot based on Backstepping[J].Journal of Southeast University (Natural Science Edition),2005,35(2):248-252.[doi:10.3969/j.issn.1001-0505.2005.02.019]
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基于Backstepping方法的车式移动机器人轨迹追踪控制()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
35
期数:
2005年第2期
页码:
248-252
栏目:
自动化
出版日期:
2005-03-20

文章信息/Info

Title:
Tracking control of car-like mobile robot based on Backstepping
作者:
李胜 马国梁 胡维礼
南京理工大学自动化系, 南京 210094
Author(s):
Li Sheng Ma Guoliang Hu Weili
Department of Automation, Nanjing University of Science and Technology, Nanjing 210094, China
关键词:
车式移动机器人 Backstepping 轨迹追踪 Lyapunov函数
Keywords:
car-like mobile robot Backstepping trajectory tracking Lyapunov function
分类号:
TP24
DOI:
10.3969/j.issn.1001-0505.2005.02.019
摘要:
针对四轮车式移动机器人的运动学模型,首先利用一个正则坐标变换,将误差系统转换为一个非线性串联系统的形式; 然后利用Backstepping方法,在两轮移动机器人追踪控制律设计过程的基础上,构造了四轮移动机器人追踪系统的Lyapunov函数,并通过使该Lyapunov函数负定,计算得到了针对四轮移动机器人轨迹追踪控制器,并证明了该类型移动机器人在所得控制器作用下,能实现对给定目标的全局渐近追踪; 最后利用提出的控制器,通过四轮移动机器人对直线和圆周2种轨迹追踪的仿真实验,验证了该控制器在四轮车式移动机器人轨迹追踪控制中的有效性.
Abstract:
Aimed at the kinematic model of the car-like mobile robot with four wheels, the tracking error system is firstly transformed to a nonlinear serial system through a regular transformation. Through the Backstepping method, the Lyapunov function of the car-like mobile robot with four wheels is then constructed based on the design procedure of the trajectory tracking controller of two wheel mobile robot, and the tracking controller of car-like mobile robot with four wheels is proposed in order to make the constructed Lyapunov function negative. It is proved that this kind of robot can globally asymptotically track a given target under the proposed controller. Finally, the effectiveness of the proposed controller is shown through the simulation of car-like mobile robot tracking line and circle trajectory under the proposed controller.

参考文献/References:

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备注/Memo

备注/Memo:
基金项目: 国家自然科学基金资助项目(60174019,60034010).
作者简介: 李胜(1976—),男,博士生; 胡维礼(联系人),男,教授,博士生导师,hwl1002@163.com.
更新日期/Last Update: 2005-03-20