Under-actuated two-wheeled mobile robot control method based on constraint following

The invention discloses an under-actuated two-wheeled mobile robot control method based on constraint following, and the method comprises the steps: building an under-actuated two-wheeled mobile robot dynamic model based on a Lagrange modeling method; expressing a motion control problem of the under-actuated two-wheeled mobile robot as a constraint following control problem, establishing a constraint mathematical model according to expected control performance, and expressing the constraint mathematical model in a servo constraint form; analyzing the servo constraints to obtain first/second order servo constraints, and designing a controller which does not consider initial constraint deviation; on the basis of a controller without initial constraint deviation, an additional control action is added to process possible initial constraint deviation, a robust controller is designed, and a robust control strategy is formed; constraint following is used as guidance, and complete constraint and incomplete constraint