车式移动机器人系统的轨迹跟踪控制【毕业论文】.doc

- PAGE I - 本科毕业设计 （20 届） 车式移动机器人系统的轨迹跟踪控制 所在学院 专业班级 电气工程及其自动化 学生姓名 学号 指导教师 职称 完成日期 年 月 PAGE I 摘 要 【摘要】近年来，机器人的应用越来越广泛，从原来单一的制造业，逐渐拓展到像医疗、家务、娱乐等非制造业和服务行业。它的出现有力的推动了科技的进步和社会经济的发展，带给人们巨大的经济财富。机器人技术是在新技术革命中迅速发展起来的一门新兴学科，是人类最伟大的发明之一，其研究一直是国内外极为重视的高技术领域，各国的研究机构已经根据需要研制出多种不同用途的机器人。移动机器人是机器人学中的一个重要分支，具有重要的军用和民用价值。 本文首先研究了车式移动机器人的运动学模型，建立了机器人的运动学模型。然后根据其模型，提出了机器人自适应轨迹跟踪控制方法。比较了现阶段常用的几种用于机器人轨迹跟踪控制的方法。最后选用了滑模轨迹跟踪控制，并用反步法（Backstepping）设计控制器。 采用MATLAB软件对圆形和直线两种线路分别进行仿真。给出了仿真结果。 【关键词】车式移动机器人；轨迹跟踪；反步法（Backstepping）；滑模控制。 Abstract 【ABSTRACT】In recent years, Robot used more widely, From the original single manufacturing, Gradually expand to like medical, housework, entertainment, and the manufacturing and service industries. The emergence of the powerful promoted the progress of science and technology and the development of social economy, bring huge economic wealth to people. Robotic technology is rapidly in new technology revolution developed a new subject, is one of the greatest inventions in human beings. The research has been a great importance at home and abroad, the high technology fields, national research institutions have developed according to the need of different uses of robot. Mobile robot is an important branch of the robotics, having important military and civilian value. This paper first studied car type mobile robot kinematics model,then establishing the robot’s kinematics model. Then according to the model, puting forward robot adaptive trajectory tracking control method. Compare the present several different methods for robot trajectory tracking control. Finally choose the sliding mode trajectory tracking control,and use the Backtepping to design the controller. Based on MATLAB software of circular and linear two circuit simulation respectively. Giving the simulation results. 【KEYWORDS】Car-like mobile robot；Trajectory tracking；Backstepping; slidin