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Research On The Trajectory Tracking Control Of Mobile Robot With Nonholonomic Constraint

Posted on:2018-06-01Degree:MasterType:Thesis
Country:ChinaCandidate:J Y ShiFull Text:PDF
GTID:2348330536464607Subject:Control theory and control engineering
Abstract/Summary:PDF Full Text Request
Mobile robot is a typical nonholonomic system,with the rapid development of intelligent control,nonholonomic mobile robot motion control,especially the trajectory tracking control of mobile robot has become the focus of research,but in the actual engineering application,due to existence of disturbances and unknown parameters such uncertainties factors lead to tracking trajectory has not a unified control strategy,most studies did not fully consider the influence of these problems on the control effect.Aiming at this problem,this paper studies the trajectory tracking control strategy of mobile robot,the main reach work is:Firstly,build the mobile robot model.The problem of building mobile robot's Model includes kinematics model and dynamics model,this paper uses coordinate transformation method to build the kinematics model,At the same time,this paper uses the Lagrange method to build dynamics model.Secondly,trajectory tracking control is studied based on the kinematics model of the system.When the system model parameter is known,Combining Backstepping,sliding mode variable structure and fuzzy logic,this paper puts forward a method of controller designing,then this paper debugs parameters,the reference trajectory is tracked for verification.Further,considering the actual situation,the object may exist unknown parameters,this paper uses robust adaptive control strategy to estimate the unknown model parameters,this paper presents a trajectory controller design method,finally,this paper debugs parameters,then gives the reference trajectory tracking verification.Finally,trajectory tracking control is studied based on system dynamics model.Based on the kinematics equation,this paper chooses a system kinematics speed control law,then,considering model error,unknown disturbance and other uncertainty of the system model,completes designing of the dynamics of moment controller based on the application of single layer adaptive neural network,finally this paper debugs parameters,the reference trajectory is tracked for verification.
Keywords/Search Tags:Mobile robot, Trajectory tracking, Backstepping algorithm, Sliding mode variable structure, Fuzzy logic, Neural network
PDF Full Text Request
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