师五喜,姜万蕾,李宝全

• 1:天津工业大学控制科学与工程学院

摘要(Abstract)：

为保证轮式移动机器人在轨迹跟踪控制时具有良好性能，其输入线速度v和角速度w均不超过其额定值c_v和c_w，基于四阶运动学模型对移动机器人提出了一种线速度和角速度受限的轨迹跟踪控制方法。利用Lyapunov稳定性理论证明该方法可以使闭环系统中所有信号有界，闭环系统渐近稳定。仿真和实验结果表明：轮式移动机器人能够跟踪到期望轨迹，其跟踪误差e_x、e_y、e_s、e_c收敛到0；同时保证闭环系统中所有信号有界，且轮式移动机器人线速度和角速度受限，即|v|≤c_v，|w|≤c_w。

关键词(KeyWords)： 轮式移动机器人;运动学模型;轨迹跟踪;输入受限

Abstract:

Keywords:

基金项目(Foundation): 国家自然科学基金资助项目（61973234）;; 天津市自然科学基金资助项目（20JCYBJC00180）

作者(Author): 师五喜,姜万蕾,李宝全

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