基于自适应命令滤波反步渐近的轮式移动机器人轨迹跟踪控制*

doi:10.16731/j.cnki.1671-3133.2026.01.008

现代制造工程 ›› 2026, Vol. 544 ›› Issue (1): 66-73.doi: 10.16731/j.cnki.1671-3133.2026.01.008

基于自适应命令滤波反步渐近的轮式移动机器人轨迹跟踪控制^*

李昊天, 赵林

青岛大学自动化学院,青岛 266071

收稿日期:2025-04-25 出版日期:2026-01-18 发布日期:2026-03-17
作者简介:李昊天,硕士研究生,主要研究方向为轮式移动机器人跟踪控制。赵林,博士,教授,博士生导师,主要研究方向为机器人控制。E-mail:lht2023025765@163.com;zhaolin1585@163.com
基金资助:
*国家自然科学基金项目(62373207)

Adaptive command filtering backstepping asymptotic tracking control for wheeled mobile robots

LI Haotian, ZHAO Lin

School of Automation, Qingdao University, Qingdao 266071, China

Received:2025-04-25 Online:2026-01-18 Published:2026-03-17

摘要/Abstract

摘要： 针对当外界扰动存在时,非完整约束下轮式移动机器人系统的轨迹跟踪控制问题,提出了一种自适应命令滤波反步渐近跟踪控制方案,将命令滤波反步法与轮式移动机器人系统误差模型相结合,利用命令滤波器来避免传统反步中对虚拟控制信号的微分计算,并建立误差补偿机制来补偿滤波误差。通过引入时变参数,使跟踪误差渐近收敛到0,保证了系统的收敛性。同时设计自适应律来处理外部干扰,提高了轮式移动机器人的抗干扰能力。最后,通过仿真和实验验证了所提控制律的有效性。

关键词: 渐近跟踪控制, 命令滤波反步, 自适应技术, 轮式移动机器人

Abstract: Aiming at the trajectory tracking control problem of a wheeled mobile robot system under nonholonomic constraints in the presence of external disturbances,an adaptive command filtering backstepping asymptotic tracking control scheme is proposed,which combines the command filtering backstepping method with the error model of wheeled mobile robot system.Command filters are used to avoid differential calculations of virtual control signals in traditional backstepping,and an error compensation mechanism is established to compensate filtering errors. By introducing time-varying parameters,the tracking error asymptotically converges to 0,ensuring the convergence of the system.Simultaneously adaptive laws are designed to handle external disturbances,which has improved the stability of wheeled mobile robots. Finally,the effectiveness of the proposed control law has been verified through simulation and experiments.

Key words: asymptotic tracking control, command filtering backstepping, adaptive technology, wheeled mobile robot

中图分类号:

TP242

李昊天, 赵林. 基于自适应命令滤波反步渐近的轮式移动机器人轨迹跟踪控制^*[J]. 现代制造工程, 2026, 544(1): 66-73.

LI Haotian, ZHAO Lin. Adaptive command filtering backstepping asymptotic tracking control for wheeled mobile robots[J]. Modern Manufacturing Engineering, 2026, 544(1): 66-73.

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基于自适应命令滤波反步渐近的轮式移动机器人轨迹跟踪控制^*

Adaptive command filtering backstepping asymptotic tracking control for wheeled mobile robots

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