轮式移动机器人的Back-stepping滑模模糊自适应轨迹跟踪控制
Trajectory Tracking with Back-stepping Sliding Mode Fuzzy Adaptive Control for Wheeled Mobile Robot

为提高两轮驱动轮式移动机器人轨迹跟踪控制的精度，依据轮式移动机器人的运动学和动力学方程，提出了一种具有全局渐进稳定性的控制方法。首先基于Back-stepping建立了轮式移动机器人的运动学控制器；其次通过滑模控制方法建立轮式移动机器人的动力学控制器；然后加入模糊控制系统调节滑模增益以削弱抖振；最后对系统的未知扰动建立自适应控制规律，并证明了其稳定性。以跟踪直线、圆、类正弦轨迹为例进行了仿真研究，验证了该控制方法的有效性。
In order to improve the control precision of the trajectory tracking of a two-wheel driving wheeled mobile robot, a global asymptotic stability control method is proposed based on its kinematics and dynamics equations model. Firstly, the kinematics controller of the wheeled mobile robot is built based on back-stepping. Secondly, the dynamic controller of the wheeled mobile robot is established with the sliding mode control method. Then, the control law parameters of fuzzy control setting is added to weaken the chattering. Finally, the adaptive control law is established for the unknown disturbance of the wheeled mobile robot, and its stability is proved. The simulation is carried out to track its straight line, circle and sine-like wave, thus verifying the effectiveness of the control method