CAJ | 학술논문

主要是对非完整约束下移动机器人的轨迹跟踪控制进行了研究，提出了一种新型的基于移动机器人运动模型、具有全局渐近稳定性的跟踪控制方法。这种非线性控制方法主要分为前馈和反馈两个部分：前馈部分是一种滑模控制器，它是基于反演设计的思想设计了切换函数，采用指数趋近律，减少了滑模变结构控制的抖动，并使用Lyapunov第一法对控制系统进行了稳定性分析，证明了滑模跟踪控制器是稳定的；反馈部分是基于Lyapunov函数的方法设计的反馈控制器。通过前馈部分和反馈部分的相互作用，提高了移动机器人轨迹跟踪控制的精度。实验结果表明与一般的跟踪控制方法相比，控制效果明显改善，跟踪误差能在较短时间内收敛，具有很好的抗干扰性能。
주요시대비완정약속하이동궤기인적궤적근종공제진행료연구，제출료일충신형적기우이동궤기인운동모형、구유전국점근은정성적근종공제방법。저충비선성공제방법주요분위전궤화반궤량개부분：전궤부분시일충활모공제기，타시기우반연설계적사상설계료절환함수，채용지수추근률，감소료활모변결구공제적두동，병사용Lyapunov제일법대공제계통진행료은정성분석，증명료활모근종공제기시은정적；반궤부분시기우Lyapunov함수적방법설계적반궤공제기。통과전궤부분화반궤부분적상호작용，제고료이동궤기인궤적근종공제적정도。실험결과표명여일반적근종공제방법상비，공제효과명현개선，근종오차능재교단시간내수렴，구유흔호적항간우성능。
This paper is mainly to study trajectory tracking control method for nonholonomic mobile robot which is based on kinematic model, with global asymptotic stability. The nonlinear control method is made up of feedforward signal and feedback signal. A feedforward part is variable structure control. Switch function of variable structure control is designed based on the backstepping method. In order to weaken chattering, the exponential rate reaching rule is used in the sliding mode variable struc-ture control. The first method of Lyapunov is used to analyse the stability of control system, and prove that the sliding mode tracking controller is stable. A feedback part is a controller which is developed based on a Lyapunov approach. Through the inter-action of the feedforward part and the feedback part, the precision for mobile robot trajectory tracking control is improved. The experimental results show that the control effect is improved obviously compared with the common method , the tracking error can be in a relatively short period of convergence. The control method has the very good anti-disturbance performances.