Journal of Shandong University(Engineering Science) ›› 2019, Vol. 49 ›› Issue (6): 36-44.doi: 10.6040/j.issn.1672-3961.0.2019.236

• Control Science & Engineering - Special Topic on Robot • Previous Articles     Next Articles

The composite control of backstepping control based on uncertain model compensation of wheeled mobile robot

Meizhen LIU1(),Fengyu ZHOU1,*(),Ming LI2,Yugang WANG1,Ke CHEN1   

  1. 1. School of Control Science and Engineering, Shandong University, Jinan 250061, Shandong, China
    2. Engineering Training Center, Shandong University, Jinan 250061, Shandong, China
  • Received:2019-05-17 Online:2019-12-20 Published:2019-12-17
  • Contact: Fengyu ZHOU E-mail:mzliu94k@163.com;zhoufengyu@sdu.edu.cn
  • Supported by:
    国家重点研发计划项目(2017YFB1302400);国家自然科学基金(61773242);山东省重大科技创新工程项目(2017CXGC0926);山东省重点研发计划(公益类专项)项目(2017GGX30133)

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Abstract:

Given these factors of model uncertainty, non-linearity and unmodeled dynamic characteristics existing in wheeled mobile robots, which seriously affected the stability and accuracy of trajectory tracking, a backstepping composite control strategy based on model uncertainty compensation was proposed. Based on the kinematics model of a nonholonomic wheeled mobile robot, backstepping control and Lyapunov stability criterion were adopted to design virtual velocity control quantity as continuous incentive input for trajectory tracking. Considering the model uncertainty and external bounded moment disturbance of wheeled mobile robots, the uncertainties of the system were derived from the dynamic model of wheeled mobile robots, and the moment control quantity of model was acquired by using the neural network with highly nonlinear fitting characteristics, and then adaptive law of uncertainties was obtained from Lyapunov stability analysis to realize self-adjustment and real-time trajectory tracking. The simulation results showed that the proposed composite control strategy could track the reference trajectory adaptively, and had better robustness and tracking accuracy than the single backstepping control strategy, model uncertainty compensation control strategy and PID controller.

Key words: wheeled mobile robot, nonholonomic wheeled, backstepping control, Lyapunov stability, adaptive law

CLC Number: 

  • TP24

Fig.1

The model of wheeled mobile robot"

Fig.2

The close-loop control system of wheeled mobile robot"

Fig.3

The composite control block diagram of backstepping control based on uncertain model compensation"

Table 1

The table of controllers' parameters"

控制系统 基于运动学模型控制参数 基于动力学模型控制参数 PID控制参数
c1 c2 c3 k1 k2 k3 m l KP KT KD
反演控制系统 2 2 10
不确定模型估计控制系统 20 10 4 1 0.4
复合控制系统 3 10 50 5 10 2 1 0.4
PID控制系统 60 10 50

Fig.4

The compared figure of tracking circle trajectory"

Fig.5

The compared figure of tracking error of circle trajectory at x axis"

Fig.6

The compared figure of tracking error of circle trajectory at y axis"

Fig.7

The compared figure of tracking clovertype trajectory"

Fig.8

The compared figure of tracking error of clovertype trajectory at x axis"

Fig.9

The compared figure of tracking error of clovertype trajectory at y axis"

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