Matlab两轮差动机器人系统控制问题研究

摘要两轮差动机器人是一个非完整性、非线性系统。在过去的研究中，因为潜在的应用前景，人们越来越关注两轮差动机器人。在这里，我们主要研究的是两轮差动机器人的轨迹跟踪的问题。
    第一，采用Back-stepping控制算法，对于两轮差动机器人的运动学模型设计了相应的轨迹跟踪控制律，并用李雅普诺夫函数证明了系统在所设计的控制律下的全局稳定性。在Matlab环境下对直线轨迹、圆形轨迹和正余弦轨迹进行了跟踪控制仿真，同时证明了此控制律的有效性。30543
    第二，Lyapunov直接法，分别针对移动机器人对于直线轨迹、圆轨迹、正余弦设计了轨迹跟踪控制算法，在Matlab的环境下进行了仿真并对仿真结果进行分析。
最后，对两种轨迹跟踪控制算法的优缺点进行了总结和比较。
关键词轮式差动机器人非完整约束轨迹跟踪后退算法模糊控制
毕业设计说明书（毕业论文）外文摘要
Title      Two rounds of differential robot system control problem
ABSTRACT
Two rounds of differential robot is a non completeness, nonlinear system. In the past research, because of the potential application prospect, people more and more attention to two rounds of differential robot. Here, we mainly is the study of the two rounds of the problem of trajectory tracking of robot manipulators with differential.
First, the Back - stepping control algorithm, differential kinematics model of the robot for two rounds of the corresponding trajectory tracking control law is designed, using lyapunov function is proved that the system is designed under the control law of global stability. Straight trajectory in Matlab environment, circular trajectory tracking control simulation and cosine, and prove the effectiveness of the control law.
   Second, Lyapunov direct method, respectively for mobile robot for straight line trajectory, circular trajectory, is cosine, trajectory tracking control algorithm is designed in the Matlab environment are simulated and the simulation results are analyzed.
Finally, the advantages and disadvantages of two kinds of trajectory tracking control algorithm are summarized and compared
Keywords: wheeled differential robot nonholonomic constraint trajectory tracking back   fuzzy control algorithm
目录
1 绪论    1
1.1    移动机器人发展概况    1
1.2 移动机器人的控制问题    1
1.3 论文的工作安排    3
2. 基于BACK—STEPPING方法的轨迹跟踪控制律设计    4
2.1 BACK-STEPPING方法简介BACK-STEPPING    4
2.1.1 Back—stepping算法的提出    4
2.1.2 Back—Stepping方法的设计过程    4
2.2 基于BACK-STEPPING的轨迹跟踪控制律    7
2.2.1基于运动学模型的轨迹跟踪控制律    7
2．2.2基于动力学模型的轨迹跟踪控制律    9
2.3 基于BACK-STEPPING的轨迹跟踪控制仿真    13
2.3.1 跟踪直线仿真结果    13
2.3.2 跟踪圆仿真结果    15
2.3.3 跟踪正弦曲线仿真结果    17
2.4 本章小结    19
3.基于 LYAPUNOV 直接法的移动机器人轨迹跟踪控制律设计    20
3.1 LYAPUNOV直接法简介    20 Matlab两轮差动机器人系统控制问题研究:http://www.751com.cn/zidonghua/lunwen_26297.html