Mixed control method based on trace tracking of wheeled mobile robot

Abstract

The invention discloses a mixed control method based on trace tracking of a wheeled mobile robot. A kinematic virtual velocity controller, a sliding mode torque controller and a disturbance observer are involved in the mixed control method, wherein the sliding mode torque controller and the disturbance observer are based on dynamics. The virtual velocity controller is used for designing the linear velocity and the angular velocity of the robot; the sliding mode torque controller is used for designing a sliding mode face and a sliding mode control law, and the disturbance observer is used for observation of the external disturbance of a system to reduce the control quantity of the sliding mode controller and is introduced as a feedforward term. By means of the mixed control method, control over the trace tracking of the robot is achieved by the system under the condition that external change and external disturbance happen to a parameter. It is shown upon simulation experiments that by means of the mixed control method, chatter output by sliding mode control and output of the control quantity can be effectively reduced, and good robustness is achieved.

Description

technical field [0001] The invention belongs to the field of trajectory tracking control of mobile robots, and in particular relates to a hybrid control method based on trajectory tracking of wheeled mobile robots. Background technique [0002] A wheeled mobile robot is a mobile platform that integrates multiple functions such as environment perception, dynamic decision-making and planning, behavior control and execution. Purposeful and autonomous movement in the environment, and complete specific job functions. Due to the incomparable advantages of wheeled mobile robots in automatic material handling, special crowd service, emergency rescue, exploration of unknown and dangerous areas, etc., they have been widely used in industry and agriculture, service industry, national defense, space exploration and other fields. The production and life of human society have had a positive and far-reaching impact. [0003] Nonholonomic wheeled mobile robot (WMR) is a typical multi-inpu...

AI Technical Summary

Problems solved by technology

On the one hand, some neglected inherent nonlinear characteristics of the actual system should be considered, such as friction, clearance, actuator saturation, etc.; on the other hand, the system will also be affected by external disturbances and parameter uncertainties. The ideal mathematical model has a large deviation

The control law designed based on the ideal mathematical model is often difficult to achieve the required control index, and even cause system instability

Need to find ways to eliminate the adverse effects of system uncertainty, which brings greater challenges to motion control

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