中文说明：针对四轮车式移动机器人的运动学模型,首先利用一个正则坐标变换,将误差系统转换为一个非线性串联系统的形式;然后利用Backstepping方法,在两轮移动机器人追踪控制律设计过程的基础上,构造了四轮移动机器人追踪系统的Lyapunov函数,并通过使该Lyapunov函数负定,计算得到了针对四轮移动机器人轨迹追踪控制器,并证明了该类型移动机器人在所得控制器作用下,能实现对给定目标的全局渐近追踪;最后利用提出的控制器,通过四轮移动机器人对直线和圆周 2种轨迹追踪的仿真实验,验证了该控制器在四轮车式移动机器人轨迹追踪控制中的有效性.
English Description：
Aiming at the kinematics model of four-wheel mobile robot, firstly, a canonical coordinate transformation is used to transform the error system into a nonlinear series system. Then, based on the design process of tracking control law of two wheel mobile robot, the Lyapunov function of the tracking system of four-wheel mobile robot is constructed by using backstepping method, The trajectory tracking controller for four-wheel mobile robot is obtained by calculation, and it is proved that this type of mobile robot can achieve global asymptotic tracking for a given target under the action of the controller. Finally, by using the proposed controller, the simulation experiment of four-wheel mobile robot tracking two kinds of trajectories of line and circle is carried out, The effectiveness of the controller in the trajectory tracking control of four wheeled mobile robot is verified