作者：陈素霞1, 黄全振2, 高继勋1
作者单位：1. 河南工程学院计算机学院，河南 郑州 451191;
2. 河南工程学院电气信息工程学院，河南 郑州 451191
关键词：移动机器人;轨迹跟踪;自适应控制;非完整约束
摘要：
针对轮式移动机器人车轮半径与车身宽度随实际应用发生变化而无法精准测量的问题，提出一种自适应轨迹跟踪控制算法。在移动机器人运动模型基础上引入自适应控制算法，以跟踪误差为目标，设计Lyapunov函数，并利用backstepping方法设计未知参数动态模型的自适应跟踪控制器，以补偿系统因不确定参数引起的误差。以双轮差速移动机器人为研究对象，通过对无自适应参数与引入自适应参数的仿真实验对比，表明在保证系统稳定性的前提下，该自适应轨迹跟踪控制方法能够使被控移动机器人运动轨迹准确收敛到预期参考轨迹，并且同时验证该控制方法的有效性与可靠性。
Design of adaptive trajectory tracking control of nonholonomic mobile robot
CHEN Suxia1, HUANG Quanzhen2, GAO Jixun1
1. School of Computer, Henan University of Engineering, Zhengzhou 451191, China;
2. School of Electrical Information Engineering, Henan University of Engineering, Zhengzhou 451191, China
Abstract: Aiming at the problem that the wheel radius and body width of wheeled mobile robots cannot be measured accurately because they change with practical applications, an adaptive trajectory tracking control algorithm is proposed. The adaptive control algorithm is introduced on the basis of the motion model of the mobile robot, and the Lyapunov function is designed with the tracking error as the target, and the adaptive tracking controller of the dynamic model with unknown parameters is designed using the backstepping method to compensate the error caused by the uncertain parameters of the system. Finally, by comparing the simulation experiments without adaptive parameters and with the introduction of adaptive parameters, the adaptive trajectory tracking control method can make the motion trajectory of the controlled mobile robot accurately converge to the expected reference trajectory under the premise of ensuring the stability of the system, and the effectiveness and reliability of the control method are also verified.
Keywords: mobile robot;trajectory tracking;adaptive control;nonholonomic
2021, 47(11):80-84 收稿日期: 2021-08-01;收到修改稿日期: 2021-09-23
基金项目: 国家自然科学基金项目（U1804162，62173126）；河南省高校科技创新团队支持计划（21IRTSTHN017）；河南省科技攻关项目（212102310551）；河南省高等学校重点科研项目（19A520008，20A413002）；河南工程学院科研培育基金项目（PYXM202102）
作者简介: 陈素霞(1982-)，女，河南濮阳市人，讲师，硕士，研究方向为计算机测控技术及智能控制
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