基于自适应命令滤波反步渐近的轮式移动机器人轨迹跟踪控制OA

Aiming at the trajectory tracking control problem of a wheeled mobile robot system under nonholonomic constraints in the presence of external disturbances,an adaptive command filtering backstepping asymptotic tracking control scheme is proposed,which combines the command filtering backstepping method with the error model of wheeled mobile robot system.Com-mand filters are used to avoid differential calculations of virtual control signals in traditional backstepping,and an error compensa-tion mechanism is established to compensate filtering errors.By introducing time-varying parameters,the tracking error asymptoti-cally converges to 0,ensuring the convergence of the system.Simultaneously adaptive laws are designed to handle external disturb-ances,which has improved the stability of wheeled mobile robots.Finally,the effectiveness of the proposed control law has been verified through simulation and experiments.