移动机器人的快速终端滑模轨迹跟踪控制

针对基于动力学模型描述的非完整移动机器人轨迹跟踪问题,给出了一种快速终端滑模控制器设计方法,该方法结合反演(backstepping)设计和快速终端滑模控制的思想,实现了非完整移动机器人全局快速轨迹跟踪控制,并且能够在有限时间内完全跟踪上期望轨迹。该方法将系统分解为低阶子系统来处理,利用中间虚拟控制量简化了控制器的设计,具有直观的稳定性分析,设计方法简单。仿真结果验证了该控制器的正确性和有效性。

Fast terminal sliding mode tracking controller design for nonholonomic mobile robot

In order to realize the trajectory tracking control of mobile robots,a fast terminal sliding mode tracking controller based on the dynamic model is presented for nonholonomic mobile robot.Based on the combination of the backstepping method and the thought of the fast terminal sliding mode control,the controller can make the mobile robot track the desired trajectory in the global sense as well as in finite time.The method of the controller breaks down the nonholonomic mobile robot system into low dimensional subsystem and simplifies the controller design using virtual control inputs.Moreover,the controller design process is very easy.Simulation results are provided to illustrate the correctness and flexibility of the controller.