Trajectory tracking control based on Lyapunov and Terminal sliding mode

doi:10.3724/SP.J.1087.2012.03243

Journal of Computer Applications ›› 2012, Vol. 32 ›› Issue (11): 3243-3246.DOI: 10.3724/SP.J.1087.2012.03243

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Trajectory tracking control based on Lyapunov and Terminal sliding mode

ZHANG Yang-ming¹,LIU Guo-rong¹,²,³,LIU Dong-bo²,³,LIU Huan¹

1. College of Information Engineering， Xiangtan University，Xiangtan Hunan 411105，China
2. College of Electrical and Information Engineering, Hunan University, Changsha Hunan 410082, China
3. College of Electrical and Information Engineering，Hunan Institute of Engineering，Xiangtan Hunan 411101，China

Received:2012-05-13 Revised:2012-06-21 Online:2012-11-12 Published:2012-11-01
Contact: ZHANG Yang-ming

基于Lyapunov方法和快速终端滑模的轨迹跟踪控制

张扬名¹,刘国荣¹,²,³,刘洞波²,³,刘欢¹

1. 湘潭大学信息工程学院，湖南湘潭 411105
2. 湖南大学电气与信息工程学院,长沙 410082
3. 湖南工程学院电气信息学院，湖南湘潭 411101

通讯作者: 张扬名
作者简介:张扬名（1987-），男，湖南郴州人，硕士研究生,主要研究方向：移动机器人运动控制；刘国荣（1957-），男，湖南华容人，教授，博士生导师，主要研究方向：智能机器人的控制、交流电机控制；刘洞波 (1974-),男, 湖南宁乡人，博士研究生，讲师, 主要研究方向：多传感器信息融合、机器人定位和导航；
刘欢（1987-），女，湖南湘潭人，硕士研究生，主要研究方向：复杂网络控制。
基金资助:
国家自然科学基金资助项目（51177040,61104072）;湖南省自然科学湘潭市联合基金重点资助项目（09jj8006）

Abstract

Abstract: In view of the kinematic model of mobile robot, a tracking controller of global asymptotic stability was proposed. The design of tracking controller was divided into two parts: The first part designed the control law of angular velocity by using global fast terminal sliding mode in order to asymptotically stabilize the tracking error of the heading angle; the second part designed the control law of linear velocity by using the Lyapunov method in order to asymptotically stabilize the tracking error of the planar coordinate. By combining Lyapunov stability theorem and two control laws, the mobile robot can track the desired trajectory in a global asymptotic sense when the angular velocity and the linear velocity satisfy these control laws. The experimental results show that the mobile robot can track desired trajectory effectively. It is helpful for promoting the practical application.

Key words: mobile robot, terminal sliding mode, trajectory tracking, kinematic model, global asymptotically stability, Lyapunov function

摘要： 针对移动机器人的运动学模型，提出一种具有全局渐近稳定性的跟踪控制器。该跟踪控制器的设计分为两部分：第一部分是采用全局快速终端滑动模态的思想设计了角速度的控制律，用来渐近镇定移动机器人跟踪的前向角误差；第二部分是采用Lyapunov方法设计了线速度的控制律，用来渐近镇定移动机器人跟踪的平面坐标误差。采用Lyapunov稳定性定理，证明了移动机器人在满足这些控制律条件下，实现了对参考轨迹的全局渐近跟踪。实验结果表明移动机器人能够有效地跟踪期望轨迹，有利于在实际应用中推广。

关键词: 移动机器人, 终端滑模, 轨迹跟踪, 运动模型, 全局渐近稳定, Lyapunov函数

CLC Number:

TP242.6

ZHANG Yang-ming LIU Guo-rong LIU Dong-bo LIU Huan. Trajectory tracking control based on Lyapunov and Terminal sliding mode[J]. Journal of Computer Applications, 2012, 32(11): 3243-3246.

张扬名刘国荣刘洞波刘欢. 基于Lyapunov方法和快速终端滑模的轨迹跟踪控制[J]. 计算机应用, 2012, 32(11): 3243-3246.

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Trajectory tracking control based on Lyapunov and Terminal sliding mode

基于Lyapunov方法和快速终端滑模的轨迹跟踪控制

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