轮式移动机器人(WMR), 滑模控制, 反演控制, 粒子群优化(PSO), 输入饱和

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.

wheeled mobile robot (WMR), sliding mode control, backstepping control, particle swarm optimization (PSO), input saturation