摘要：随着近年科学技术的不断发展，移动机器人技术的应用已经推广到各行各业。轮式移动机器人轨迹跟踪控制是一个典型的非线性系统，传统PID算法难以在响应时间和系统稳定性之间取得平衡。为了提高系统的动态性能，本文提出用滑模变结构控制方法设计控制律，提高系统的稳定性。

本文以轮式移动机器人为对象，对其非完整性特性进行分析，建立其运动学模型和位姿方程，利用先进滑模变结构控制方法设计移动机器人的轨迹跟踪控制律，调节控制系统增益系数，使系统快速收敛并保持稳定。数值仿真结果表明，本文设计的控制器能够在短时间实现对期望轨迹的实时跟踪，跟踪轨迹和期望轨迹误差很小，系统具有良好的稳定性。

关键词：轮式移动机器人；轨迹跟踪；滑模变结构控制

Abstract：With the continuous development of science and technology in recent years, the application of mobile robot technology has been penetrated into various fields. Wheeled mobile robot trajectory tracking control system is a typical nonlinear system. Traditional PID algorithm is difficult to balance the response time and system stability. In order to improve the dynamic performance of the system, this paper designs a control law with sliding mode control to improve the stability of the system.

This essay makes an analysis about the characteristics of wheeled mobile robot, establishes its kinematic model, position and attitude equations. Then, the trajectory tracking control law of mobile robot is designed by using advanced sliding mode control method. Adjusting the gain coefficient of the control system, to make the system convergence quickly and keep stable. The numerical simulation results show that, the mobile robot trajectory tracking control law designed in this paper is able to real-time track the desired trajectory in a short time. The error within tracking track and expected track is very small. The system has well stability.

Keyword: Wheeled Mobile Robot; Trajectory Tracking; Sliding Mode Control

目录

第一章绪论 1

1.1研究的背景和意义 2

1.2国内外研究现状及发展趋势 5

1.3轮式移动机器人轨迹跟踪控制律设计方法 6

1.4论文研究内容和组织结构 7

第二章轮式移动机器人运动学模型 8

2.1非完整约束和非完整系统概述 8

2.2轮式移动机器人的非完整特性 8

2.3轮式移动机器人运动学模型 10

2.4本章小结 11

第三章滑模变结构控制 12

3.1滑动模态的定义 12

3.2滑模变结构控制的定义 14

3.3滑模变结构控制的趋近律 15

第四章轮式移动机器人轨迹跟踪控制 18

4.1轨迹跟踪控制问题分析 18

4.2轨迹跟踪控制律设计 20

4.2.1位置控制律设计 20

4.2.2姿态控制律设计 21

4.3数值仿真 22

4.4本章小结 25

总结和期望 26

致