中文摘要：

为解决轮式移动机器人的滑移补偿控制问题,首先推导出车体侧滑角的表达式,然后将时变侧滑角的重建问题转化为对地面特性参数的辨识问题.利用Luenberger观测器设计出自适应辨识律,并证明了当控制输入满足持续激励条件时,可以准确辨识出地面特性参数.基于链式系统模型设计出滑移补偿控制器,在滑移角精确已知的条件下,可以保证位置误差收敛,姿态误差有界.仿真结果表明,基于所设计的自适应辨识律,可以准确地重建出滑移角,提高滑移控制精度.

英文摘要：

The problem of anti-sliding control of wheeled mobile robot is presented.Firstly,lateral vehicle dynamics and acceleration equations are considered to obtain an equation describing the relationship between the sideslip angle and the cornering stiffness.Then linear Luenberger observer is used to obtain adaptive learning laws for the cornering stiffness, which leads to the convergence of the estimated cornering stiffness to its real value when the persistent excitation condition is satisfied.Therefore,the unknown sideslip angles can be reconstructed precisely.With the results of the sliding-angle reconstruction,a path-following controller with sliding compensation is designed based on the chained system theory.Finally simulation results show that the proposed adaptive learning laws can guarantee the precise reconstruction of the sliding angles, and the anti-sliding controller can moderate negative sliding effects and improve lateral control accuracy in spite of sliding.