非完整约束移动机器人的轨迹跟踪控制

Trajectory Tracking Control of Mobile Robot with Nonholonomic Constraints

摘要:

针对非完整约束移动机器人运动学与动力学模型,根据轨迹跟踪控制目标的需要,设计了一种简单的控制器,该控制器结合了运动学控制器设和动力学控制器两部分；针对运动学模型,采用自适应算法对其未知参数进行估计,针对系统动力学模型,采用单层神经网络算法克服未知扰动对系统稳定性的影响,使速度误差尽可能地缩小；在Lyapunov稳定性理论的基础上证明了系统的收敛性和稳定性,该控制算法简单有效,易于实现；仿真结果表明:该控制策略可以实现对移动机器人期望轨迹的稳定跟踪,验证了算法的有效性。

Abstract:

For kinematics and dynamic model of nonholonomic mobile robot, according to the need of trajectory tracking control target, this paper designs a simple controller, which includes a kinematics controller and a dynamic controller. For the kinematics model, this paper uses the adaptive algorithm to estimate the unknown parameters. For the dynamic model, this paper uses the monolayer neural network algorithm to overcome the effect of unknown disturbance for system stability as far as possible and reduce the velocity error. On the basis of theory of Lyapunov stability, the convergence and stability of system are proved. The algorithm is simple and effective, and it is easy to implement。 The simulation results show that the control method can achieve the stable tracking for the desired trajectory of the mobile robot and demonstrate the effectiveness of the algorithm.