Abstract
Path tracking control of wheeled mobile robot is always an important research content in intelligent control research. Aiming at the control problem that the nonholonomic nature of wheeled mobile robot and external interference factors affect the tracking control effect, an improved backstepping control algorithm is proposed based on backstepping algorithm and speed compensation control method. Firstly, the kinematics model of wheeled mobile robot is constructed, and the mathematical relations of kinematics and path tracking state error are deduced. Secondly, the kinematics speed control law of mobile robot is designed based on the backstepping control algorithm and speed compensation control method, which improves the robustness of path tracking control. Finally, the design is verified by Lyapunov stability theorem. The tracking convergence of the tracking control algorithm is discussed. Compared with the traditional backstepping control algorithm, the improved algorithm improves the robustness of path tracking control. The tracking control algorithm proposed in this paper can be applied in the related fields of wheeled mobile robot, and the practical benefit is remarkable.
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