Trajectory Tracking Control Approach of a Car-Like Mobile Robot

CAO Zheng-cai; ZHAO Ying-tao; FU Yi-li

doi:10.3969/j.issn.0372-2112.2012.04.002

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Trajectory Tracking Control Approach of a Car-Like Mobile Robot

更新时间：2025-07-16

- Trajectory Tracking Control Approach of a Car-Like Mobile Robot
- Acta Electronica Sinica Vol. 40, Issue 4, Pages: 632-635(2012)
- 作者机构：
  
  1. 北京化工大学信息科学与技术学院,北京,100029
  2. 哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江,哈尔滨,150001
  3. 北京化工大学信息科学与技术学院北京,100029
  4. 哈尔滨工业大学机器人技术与系统国家重点实验室黑龙江哈尔滨,150001
- 作者简介：
- 基金信息：
- DOI：10.3969/j.issn.0372-2112.2012.04.002
  CLC： TP24
- Published：2012
- 稿件说明：
移动端阅览
CAO Zheng-cai, ZHAO Ying-tao, FU Yi-li. Trajectory Tracking Control Approach of a Car-Like Mobile Robot[J]. Acta Electronica Sinica, 2012, 40(4): 632-635.
DOI：

CAO Zheng-cai, ZHAO Ying-tao, FU Yi-li. Trajectory Tracking Control Approach of a Car-Like Mobile Robot[J]. Acta Electronica Sinica, 2012, 40(4): 632-635. DOI： 10.3969/j.issn.0372-2112.2012.04.002.

摘要

针对车式移动机器人轨迹跟踪这一典型控制任务

本文提出一种滑模轨迹跟踪控制方法.该方法采用PI型滑模面设计等效控制律

利用变速函数代替符号函数获得切换控制率

并运用Lyapunov理论证明系统的稳定性.仿真结果表明该方法不但能使机器人有效跟踪任意参考轨迹

而且能减小在控制中的抖振现象

即使在外界干扰影响的情况下

也具有良好的控制品质.

Abstract

According to the trajectory tracking control of a car-like mobile robot

a sliding mode tracking control scheme is presented in this paper.An equivalent control law is obtained by using PI-type sliding surface and a switching control law is gotten by replacing sign function by variable rate function.The stability of the system is proved by Lyapunov theory.Simulation results demonstrate that the proposed strategy can not only track any reference trajectories

but also greatly reduce the chattering phenomenon of the system.Even though external disturbances exist

the proposed approach has a satisfactory control quality.

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