Reseach On The Motion Control Of Wheeled Mobile Robot With Nonholonomic Constraint

With the fast development of new technologies in computer science, control science andartificial intelligence, mobile robot are becoming more and more popular, and theintelligentialize degree of the wheeled mobie robot develop faster than befor. At present, themobile robot has not only been applied to agriculture, industry, services, but also serviced innational defense, aviation and other high-tech cutting-edge industries. Trajectory tracking isthe basis of mobile robot’s movement, and also is a key and hot research topic, thistechnology can be widely used not only in civil areas but also in military, which havesignificant potential in research and application. Based on the wheeled mobile robot as theresearch object, we has studied the trajectory tracking control problem of single mobile robotand multiple mobile robots, combining sliding mode variable structure control and adaptivecontrol arithmetic algorithm. The main research work and contributions of the dissertation aresummarized as follows:1. Based on the mobile robot kinematics model, taking two situation into consideration:all the parameters are known, and the wheel radius and the distance between the two drivingwheels are unknown, a sliding mode variable structure control and an adaptive sliding-modetracking control law are proposed respectively to track the desired trajectory. The globalasymptotically stability of the system is guaranteed by Lyapunov stability theorem.2. For the mobile robot’s dynamic model, the fast terminal sliding mode control law oftrajectory tracking was presented by introducing auxiliary control quantity through designedkinematics controller. For the mobile robot’s model with driven motor dynamics, an adaptivetrajectory tracking control law using motor voltage as control input is designed to deal withthe uncertain inertia parameters, uncertain disturbance, which can satisfy the requirements ofthe high-precision trajectory tracking of mobile robot.3. In order to solve the flocking motion of multirobot systems, an anonymous leadertechnique was applied to investigate distributed leader--follower flocking system. Anestimated position of flocking center, estimated by all group members using a consensusalgorithm, was used to solve the lack of leader’s information between each others. Thesimulation results demonstrates the the correctness and effectiveness of the proposed method.