Trajectory tracking control of photovoltaic cleaning robot based on Lyapunov theory and Barbalat lemma

摘要

In order to solve the trajectory tracking control problem of photovoltaic cleaning robots, a universal crawler robot motion model was created. Aimed at the kinematics of the track-cleaning photovoltaic robot, a trajectory tracking error model of the tracked mobile robot is given and the error transformation equation is obtained. The tracking robot control problem of the target robot is transformed into the stabilization problem of the error system. The Lyapunov theory and the Barbalat lemma are used to prove the existence of the global asymptotic tracking control law. The global asymptotic tracking of track-cleaning photovoltaic cleaning robots is achieved by using appropriate control law. The results show that the control law adopted is stable and effective.