Open AccessResearch on Trajectory Tracking Control Method of Omnidirectional Moving Platform Based on Backstepping
Author(s) -
Boyu Wen,
Zhenqing Gao,
Bao-Kang Gao,
Zhimin Qin,
Yanping Du,
Hongfeng Li
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1828/1/012141
Subject(s) - backstepping , trajectory , kinematics , omnidirectional antenna , control theory (sociology) , computer science , tracking (education) , stability (learning theory) , control engineering , mechanism (biology) , control (management) , engineering , artificial intelligence , adaptive control , antenna (radio) , psychology , telecommunications , pedagogy , philosophy , physics , epistemology , classical mechanics , astronomy , machine learning
According to the relevant theoretical methods of omnidirectional mobile mechanism, the kinematic model of omnidirectional mobile platform under theoretical conditions is established, and the dynamic model of omnidirectional mobile mechanism in actual environment is analyzed according to the specific situation of platform body structure and actual influencing factors. Based on the kinematic model, a backstepping based trajectory tracking control method for omnidirectional mobile platform is designed, and the trajectory tracking error equation is solved. In order to further improve the stability of the system, a fuzzy control system based on backstepping method is designed based on the dynamic model, and the control torque of the platform is selected. Finally, the effectiveness of this method is verified by numerical simulation.