Robust tracking control for mobile robots using backstepping

Computer Engineering and Applications ›› 2013, Vol. 49 ›› Issue (8): 266-270.

Robust tracking control for mobile robots using backstepping

LI Shurong1, MA Huichao1, JIAO Deyu2

1.College of Information and Control Engineering, China University of Petroleum, Qingdao, Shandong 266555, China
2.Dalian Electric Traction R&D Center, China CNR Corporation Limited, Dalian, Liaoning 116022, China

Online:2013-04-15 Published:2013-04-15

基于反步法的移动机器人鲁棒跟踪控制

李树荣1，马慧超1，矫德余2

1.中国石油大学（华东）信息与控制工程学院，山东青岛 266555
2.中国北车股份有限公司大连电力牵引研发中心，辽宁大连 116022

Abstract

Abstract: A four-wheel mobile robot is investigated, the mathematical model of the robot is established which includes a kinematic model, a dynamic model and a motor model. Based on the mathematical model of the robot, backstepping method is used for designing a globally stable robust trajectory tracking controller, the motor model is considered to make the controller more suitable for the practical requirements, the controller is divided into three parts including a kinematic controller, a dynamic controller and a motor controller, which is helpful to design the robust controller. The Lyapunov function of the system is constructed, it is proved that this kind of robot can globally asymptotically track a given trajectory under the proposed controller. The simulation results show that the robust trajectory tracking controller with backstepping method is valid.

Key words: differential-drive mobile robot, trajectory tracking, robust control, backstepping, Lyapunov function

摘要： 以四轮移动机器人为研究对象，建立了机器人完整的数学模型，包括运动学模型、动力学模型以及驱动电机模型。在机器人数学模型的基础上，采用反步法的思想设计具有全局收敛特性的鲁棒轨迹跟踪控制器，设计中考虑了驱动电机模型使控制器更符合实际控制要求，并将其分解为运动学控制器、动力学控制器以及电机控制器三部分，降低了控制器设计的难度。构造了系统的李雅普诺夫函数，证明了该类型移动机器人在所得控制器作用下，能实现对给定轨迹的全局渐近追踪。仿真实验结果表明基于反步法的控制器是有效的。

关键词: 差动驱动式移动机器人, 轨迹跟踪, 鲁棒控制, 反步法, 李雅普诺夫函数

LI Shurong1, MA Huichao1, JIAO Deyu2. Robust tracking control for mobile robots using backstepping[J]. Computer Engineering and Applications, 2013, 49(8): 266-270.

李树荣1，马慧超1，矫德余2. 基于反步法的移动机器人鲁棒跟踪控制[J]. 计算机工程与应用, 2013, 49(8): 266-270.

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