关键词: 轮式移动机器人, 轨迹跟踪, 自适应反演控制, 扰动补偿

Abstract: In order to eliminate the velocity jump in the wheeled mobile robot trajectory tracking under external disturbances, a fuzzy adaptive backstepping control method with disturbance compensation is proposed. The disturbances caused by the system model uncertainty and external disturbances are estimated by a fuzzy system and the effect of disturbance estimation error on the controlled system is restrained by introducing the sliding-mode control. The corresponding control law and parameter adaptive law for the fuzzy system are given through the backstepping method. The stability analysis has proved that the closed-loop system is globally uniformly asymptotically stable. The simulation results show that the controlled system under external disturbances can achieve a fast transient response, overcome the sliding mode chattering and eliminate the velocity jump.

Key words: Wheeled mobile robot, trajectory tracking, adaptive backstepping control, disturbance compensation