부산대학교 도서관

A new optimal robust control strategy is designed based on the modified backstepping method in thispaper. Using this strategy, stable, accurate and real-time trajectory tracking for the wheeled mobile robot in thepresence of unavoidable disturbances is achieved. The control strategy consists of a kinematic controller, a dynamical controller and an online optimization algorithm. The kinematic controller, which considers non-holonomicconstraint and the resulting under-actuated nature, has fewer gains and reduces the computational burden. The dynamical controller introduces a saturation function for error compensation and effectively suppresses disturbances. The optimization algorithm is used to achieve online tuning of controllers, thus achieving fast and accurate convergence of the trajectory tracking error. The stability of the control strategy is proved theoretically. Various numericalsimulation scenarios with different types of disturbances and the experiment test verify the superiority of the trajectory tracking effect.