Trajectory Tracking Control For Mobile Robots

With the increasing degree of industrialization of human society,the development and application of mobile robots has a huge market.Mobile robots have been used in various fields such as manufacturing,service,agriculture,etc.,which has greatly liberated human productivity.With the increasing use of mobile robots,the control problems of mobile robots have also received extensive attention from researchers.This thesis mainly focuses on the quick and efficient trajectory tracking problem in the motion control of non-holonomic wheeled mobile robots.Based on the kinematics and dynamics models of non-holonomic mobile robots,a kinematic and dynamic controller is,respectively,designed by the Backstepping method.The main work of this thesis are as follows:First,according to the kinematics equation of the non-holonomic mobile robot,a kinematic controller is designed by using the design idea of backstepping method.The Lyapunov's direct method is used to prove the local asymptotic stability of the closed-loop system of the controlled non-holonomic mobile robot.The validity of the designed kinematic control law is verified by numerical simulations.Finally,based on the dynamic equation of the nonholonomic mobile robot,a dynamic control law is first proposed following the backstepping method.The Lyapunov's direct method is used to prove the global asymptotic stability of the closed-loop system.For a faster transient,a nonlinear exponential-like function is introduced,and a nonlinear dynamic controller.The global asymptotic stability of the closed-loop system with this nonlinear dynamic controller is also proved.Numerical simulation comparisons demonstrate the much performance improvement of the proposed approach.