Dynamics control for WMR based on inversion synovial control
LI Wen-ke;DU Yu-bo;WANG Lun;YAO Jin-jin;School of Mechanical Engineering,Shaanxi University of Technology;
Through decoupling and analyzing the state equation of the wheeled mobile robot control system,the sliding mode based backstepping control method is presented to control the wheeled mobile robot for improving the response performance of its control system. The speed of the robot is tracked and controlled by the backstepping control method,while the sliding mode based backstepping control method is adopted to track the direction angle of it. Finally,a simulation model is built in MATLAB,and the simulation experiment for proposed method is carried out to verify the effectiveness of my original control method. The experimental results show that the proposed method can effectively ensure the stability of the system,the speed tracking precision and the response speed. Meanwhile,the method preforms the best tracking accuracy and response speed for direction angle of the control system.
【CateGory Index】： TP242