基于EKF和Lyapunov函数的移动机器人轨迹跟踪控制.pdf

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1、机床与液压Mar．2013HydromechatronicsEngineeringVo1．41No．6DOI：10．3969／j．issn．1001-3881．2013．06．013TheMobileRobotTrajectoryTrackingControlBasedontheEKFandtheLyapunovFunctionWANGJing，JIANGGangSchoolofManufacturingScienceandEngineering，SouthwestUniversityofScienceandTechnology，Mianyang621010，Chin

2、aAbstract：Accordingtothefactthatthewheeledmobilerobotsareinfluencedbytheenvironmen．talfactorinpractice，theinformationofreferencetrajectoryoftherobotwascorrectedbyusingtheemendedKalmanfilter(EKF)algorithmfusionodometryandultrasonicobservationdata．Basedontherobotdynamicmodel，aglobalasympt

3、oticalstabletrackingcontrollerwasconstruc-tedbyusingtheLyapunovdirectmethod，andtheglobalstabilityofthesystemwasprovedbyu-singLyapunovstabilitytheorem．Thesimulationresultsofthispapershowedthatthetrackingcontroller，whichcombinedboththedatafilteringandLyapunovmethod，hasbeRereficiency．Keywo

4、rds：wheeledmobilerobot，emendedkalmanfiltering，Lyapunovmethod，trajectorytrack-ingthetrackingcontrollerwhichpossessesglobalconver-1．Introductiongenceproperty．Buttheslidingmodecontrollerde—signstructureiscomplex．Withthe％eeledMobileRobot(WMR)usedThemotionprocessofrobotmustgathersensormorean

5、dmorewidely，thedemandofrobotautoma—data，providereferencetrajectoryfortherobot．Theretiondegreeisgettinghigherandhigher．Thecontrolwillbenoiseintheacquisitionprocess；therefore，itofrobotmovementincludesnavigationpath，speedisespeciallyimportanttochooseanappropriatefilte—andacceleration．Themo

6、vementcontrolmethodsringmethod．mainlyhavethePIDcontrol，variablestructurecon—Aimedataboveproblems，thispaperusedthetrolandadaptivecontro1．thefuzzycontro1．etc．Var—extendedKalmanfilter(EKF)algorithmforoptimaliablestructurecontrolisapplicabletoallkindsoflin．estimationofthereferencetrajectory

7、，atthesameearandnonlinearsystemanditalsohasgoodadapta．time，basedoncontrolLyapunovfunction(CLF)de-bilitytothesystemofinterferenceandperturbation．signedslidingmodecontrollerforspeedtrackingcon—Literature【1IusedLyapunovfunctionvariablestruc—trolratesandnonlinearswitchingfunction．T