Research on Trajectory Tracking Control Method of Omnidirectional Moving Platform Based on Backstepping

Abstract

Abstract 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.