Path Tracking Motion Control Method Of Tracked Robot Based On Improved LQR Control

摘要

In order to enhance the trajectory tracking control performance of tracked mobile robot, an improved LQR lateral motion control method is proposed. Firstly, the robot tracking error kinematics model is constructed by using Lagrange function method, and the linear quadratic regulator controller (LQR) and feedforward controller of the tracked mobile robot are designed. Secondly, the parameters of LQR controller are analyzed, the Q and R weight coefficient matrix of LQR controller is optimized, and the fast rolling optimization algorithm of lateral tracking control based on path tracking error is designed. In this way, the improvement of the LQR controller is realized, and the adaptability and control accuracy of the controller and the dynamic performance of the system are improved. Finally, test the designed controller through Matlab/Simulink co-simulation. The simulation results show that the improved LQR controller can track the target path well, and can control the distance deviation and heading deviation in a small range.