Research on Trajectory Tracking Control Strategy of Backstepping Optimized Double Sliding Mode for Wheeled Mobile Robot

被引：0
作者：
Ma, Zijun [1 ]
Zhang, Xingang [1 ]
Zhang, Shucui [1 ]
Yao, Wenli [1 ]
机构：
[1] College of Science, Qingdao University of Technology, Qingdao
来源：
Beijing Daxue Xuebao (Ziran Kexue Ban)/Acta Scientiarum Naturalium Universitatis Pekinensis | 2024年 / 60卷 / 04期
关键词：
backstepping control; input saturation; particle swarm optimization (PSO); sliding mode control; wheeled mobile robot (WMR);
D O I：
10.13209/j.0479-8023.2024.011
中图分类号：
学科分类号：
摘要：
In order to improve the accuracy of trajectory tracking control of wheeled mobile robot (WMR), a backstepping optimized double sliding mode control strategy was proposed. Initially, based on the kinematics and dynamics model of WMR, the kinematic backstepping sliding mode controller and dynamic backstepping integral sliding mode controller are designed. The stability of the designed controllers is proved by Lyapunov theory. Then particle swarm optimization (PSO) algorithm is used to optimize the controller parameters. Finally, considering the external disturbance and system input saturation, Matlab/Simulink is used to verify the control strategy. The results show that the proposed control strategy not only ensures the robustness and real-time performance of the system, but also improves the control accuracy of the system. © 2024 Peking University. All rights reserved.
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页码：597 / 606
页数：9
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