Research on Trajectory Tracking Control of Non-holonomic Wheeled Robot Using Backstepping Adaptive PI Controller

摘要

In this paper, a backstepping adaptive PI controller is proposed to solve the trajectory tracking problem of a nonholonomic wheeled robot with unknown parameters and bounded external interference. Firstly, based on the non-holonomic constrained wheeled mobile robot model, the backstepping controller is designed to obtain the virtual speed control and angular velocity control of the system, which effectively solves the problem of continuous excitation of input in the process of trajectory tracking of the system. Then, a variable-gain PI controller is designed to realize self-adjustment and real-time trajectory tracking in the case of system disturbance. The simulation result is compared with the traditional PID control method, which proves the effectiveness of the method proposed in this paper.