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Self-adaptive kinetic control method of mobile robot

A mobile robot and control method technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of nonlinear susceptibility to external interference, affecting the real-time response of the system, and increasing the complexity of the system, etc., to achieve Improve the accuracy and response speed, maximize the practical value, and overcome the effect of influence

Inactive Publication Date: 2018-08-31
SHAANXI SCI TECH UNIV
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Problems solved by technology

Due to the non-integrity, nonlinearity and susceptibility to external interference of the system, the control of mobile robots under the influence of external unknown interference is an urgent problem to be solved.
Although some scholars use certain methods to compensate the system error, the existence of the system increases the complexity of the system, increases the amount of calculation, and affects the real-time performance of the system response. How to overcome these problems is urgently needed.

Method used

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  • Self-adaptive kinetic control method of mobile robot
  • Self-adaptive kinetic control method of mobile robot
  • Self-adaptive kinetic control method of mobile robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0076] In a specific embodiment, such as Figure 4 and Figure 5 As shown, the adaptive dynamics control method of the mobile robot is as follows:

[0077] 1. Establish a dynamic model of the mobile robot under the action of unknown external disturbances, such as image 3 Shown:

[0078] Among them, L is the length of the mobile robot, D is the width of the mobile robot body, d is the center distance between the front and rear wheels, and l is the distance between the centerlines of the left and right wheels. This model adopts the joint drive control of four driving wheels of the robot. In other words, the four wheels of the mobile robot are divided into left and right groups to be controlled respectively (the system output control signals can be respectively sent to the front and rear wheels on the same side). The modeling of the mobile robot considering resistance is as follows:

[0079] according to Figure 4 , the force and moment balance equation is as follows:

[...

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Abstract

The invention discloses a self-adaptive kinetic control method of a mobile robot. Environment interference is considered, and the precision of a system model is improved. External interference is observed through an observer, and the influence of external interference on the mobile robot is overcome; meanwhile, the precision and response speed of a system are improved, and the practical value is great; the stability of the system is further guaranteed through optimization of the observer and an adaptation law.

Description

technical field [0001] The invention belongs to the technical field of robot control methods, and relates to an adaptive dynamics control method of a mobile robot. Background technique [0002] Because the four-wheeled mobile robot has the advantages of strong autonomy and large carrying capacity, it has a very wide range of applications in military, agriculture, and industry. Due to the non-integrity, nonlinearity and susceptibility to external interference of the system, the control of mobile robots under the influence of external unknown interference is an urgent problem to be solved. Although some scholars use certain methods to compensate the system error, the existence increases the complexity of the system, increases the amount of calculation, and affects the real-time performance of the system response. How to overcome these problems is urgently needed to be solved. Contents of the invention [0003] The purpose of the present invention is to provide an adaptive d...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 张鹏超李文科
Owner SHAANXI SCI TECH UNIV
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