移动机器人轨迹跟踪的控制设计方法外文文献翻译、中英文翻译.doc

Designing approach on trajectory-tracking control of mobile robot Abstract Based on differential geometry theory, applying the dynamic extension approach of relative degree, the exact feedback linearization on the kinematic error model of mobile robot is realized. The trajectory-tracking controllers are designed by pole assignment approach. When angle speed of mobile robot is permanently nonzero, the local asymptotically stable controller is designed. When angle speed of mobile robot is not permanently nonzero, the trajectory-tracking control strategy with globally tracking bound is given. The algorithm is simple and applied easily. Simulation results show their effectiveness. Keywords: Trajectory tracking; Dynamic extension approach; Exact feedback linearization; Globally tracking bound 1. Introduction Recently, interest in the tracking control of mobile robots has increased with various theoretical and practical contributions being made. Particularly, feedback linearization has attracted a great deal of research interest in recent nonlinear control theory, and some techniques have been employed in mobile robot control Path tracking problems of several types of mobile robots have been investigated by means of linearizing the static and dynamic state feedback in [1]. The local and global tracking problems via time-varying state feedback based on the back stepping technique have been addressed in [2]. Since the wheel-driven mobile robot has nonholonomic constraints that arise from constraining the wheels of the mobile robot to roll without slipping and the linearized mobile robot with nonholonomic constraints has a controllability deficiency, it is difficult to control them. The point stabilization problem can be regarded as the generation of control inputs to drive the robot from any initial point to target point. The crucial problem in this stabilization question centers on the fact that the mobile robot model does not meet Brockett’s well-known necess