Research On Double Loop Control Of Wheeled Mobile Robot Trajectory Tracking

In recent decades,with the development of computer,sensor and control theory and tech-nology,the wheeled mobile robot(WMR)industry is developing rapidly,which is widely used in all walks of life,and its control problem has become one of a hot spot of domestic and for-eign scholars.In this paper,for the trajectory tracking problem of wheeled mobile robot,the methods of backstepping,adaptive control,sliding mode control are combined to design the kinematic outer loop controller and dynamic inner loop controller respectively,so that the error of the system can be asymptotically stable.The research content of this paper is divided into the following three parts:(1)The problem of adaptive sliding mode trajectory tracking control for wheeled mobile robot with disturbance is studied,and a robust controller is designed to make the system con-verge rapidly.For the kinematic model of the robot,the kinematic virtual controller is designed based on the backstepping method.The finite time sliding mode controller is used to design the dynamic controller,and the upper bound of the disturbance is estimated.Based on the Lya-punov theory,the stability of dynamic inner loop system and kinematic outer loop system is proved.The simulation results verify the effectiveness of the designed control scheme.(2)The sliding mode trajectory tracking control of global integration terminal of mobile robot with external interference,parameter uncertainty and friction is studied.In the kinematic model,the virtual control parameters are introduced to design the kinematic controller.The nominal control law?_eqis designed by the global integration terminal sliding mode control method.The convergence velocity is accelerated by the sliding mode approach law?_sw,and the adaptive law is designed to estimate the total disturbance.Finally,the reachability of the sliding surface and the stability of the system are proved by Lyapunov theory.Numerical simulation results show the effectiveness of the control scheme.(3)The problem of adaptive trajectory tracking control for wheeled mobile robot with with slipping and skidding in the actual motion is studied.The parameters of s_Land s_Rare introduced to represent the degree of slipping and skidding of the left and right wheels,and the outer loop controller based on the kinematic model is designed by using the backstepping method.The disturbance observer is designed to observe the disturbance and realize feedforward compen-sation.On this basis,the dynamic inner loop controller is designed with adaptive control.The Lyapunov stability theory is used to prove that the designed controller can make the system reach a stable state,and the simulation results also show the effectiveness of the proposed algorithm.