摘要
使用预知期望几何路径函数描述跟踪误差,将路径跟踪问题转化为输出调节问题,基于机器人的动力学模型运用输入输出线性化方法得到运动学-动力学混合控制律,再使用反步法得到动力学控制律;基于类Lyapunov方法设计不确定参数自适应律,保证在未知定常参数情况下跟踪误差仍能够渐近收敛.最后给出了渐近稳定性的证明,数字仿真证实了该控制方案的有效性.
A geometric function of target path was used to model tracking error,turning the path following problem under study into one of output regulation which was solved by backstepping a kinematic-dynamic mixed control law derived from input-output linearization method based on the dynamic model of the system.A Lyapunov-like method was used to derive parameter adaptation laws that ensured the asymptotical tracking of the target path despite the unknown constant parameters.Asymptotical convergence of the robot to the target path was proved and the numerical simulation results show the effectiveness of the control scheme.
关键词
轮式移动机器人
输入输出线性化
反步
自适应
鲁棒
路径跟踪
wheeled mobile robot
input-output linearization
backstepping
adaptive
robust
path following
