Trajectory tracking method of wheeled mobile robot controlled by backstepping sliming-mode

The invention provides a trajectory tracking method of a wheeled mobile robot controlled by a backstepping sliming-mode. The trajectory tracking method comprises firstly modeling the wheeled mobile robot; then establishing a kinematic equation according to a model thereof; establishing a pose error equation thereof after a target trajectory equation thereof is obtained, and simultaneously giving constraint conditions satisfying bounded input; designing a backstepping sliming-mode controller of the wheeled mobile robot by using the constraint condition; and finally performing stability analysison the designed controller, thereby obtaining control precision of the controller after bounded constraint is performed on input of the controller, and achieving the purpose of accurately tracking trajectories of the wheeled mobile robot. 本发明提供了一种反演滑模控制的轮式移动机器人的轨迹跟踪方法，该轨迹跟踪方法首先对轮式移动机器人进行建模，然后根据其模型建立运动学方程，在得到其目标轨迹方程后，建立其位姿误差方程，同时给出满足有界输入的约束条件，利用该约束条件设计出轮式移动机器人的反演滑模控制器，最后针对设计出来的控制器进行稳定性分析，在对控制器的输入进行有界约束后得到的控制器的控制精度，达到了对轮式移