Real-time trajectory tracking control of mobile robot based on Backstepping time-varying state feedback and PID control method

摘要

According to the kinematic model of mobile robot using the thought of hierarchical con- trol, the tracking control of the mobile robot is divided into two parts: trajectory controller and ro- bot velocity PID controller. Based on Backstepping time-varying statefeedback method and Lyapunov theory, a global tracking control algorithm is presented by introducing the virtual feedback variable, which has the property of tangent. The PID velocity controller is used to meet the demand of real-time control of the speed of drive motors. Considering the dynamic contract of the mobile robot, the limited strategy is used to ensure the smooth motion of the robot. At last, the tracking control experiments are carried on the two-wheel driven mobile robot based on DSP. The experiment results are satisfied.