针对考虑模型不确定性因素影响及控制输入约束的轮式移动机器人的轨迹跟踪问题, 文章提出了一种具有控制输入约束的轨迹跟踪最优保性能控制器. 依据实际机器人与虚拟机器人的相对位姿关系建立轨迹跟踪误差动态模型. 采用平衡点线性化方法将非线性形式的轨迹跟踪误差动态模型转换为线性形式的轨迹跟踪误差动态模型. 通过线性矩阵不等式处理方法, 给出了具有鲁棒性能上界的最优保性能控制器的存在条件及设计方法. 仿真及实验结果表明,文章所提控制器能较好抑制模型不确定性的影响, 提高移动机器人的轨迹跟踪性能和鲁棒性.

In this paper, an optimal guaranteed cost controller is proposed for the trajectory tracking problem of wheeled mobile rotbot with cosidering model uncertanties and control input constraints. The trajectory tracking error dynamic model is established by using the relative position and orientation relationship between the actual robot and the virtual robot, the non-linear form tracking error dynamic model is transformed into a linear form tracking error dynamic model by using the linearization method of equilibrium point. Existing conditions and designed method for optimal guaranteed cost cotroller with robust performance upper bound are derived by using LMI method. Simulation and experimental results show that the proposed controller can well suppress the uncertainties of the model and improve the trajectory tracking performance and robustness of the mobile robot.