Self-adaptive trace tracking control method of uncertain wheel type mobile robot

A mobile robot and trajectory tracking technology, which is applied in the directions of adaptive control, non-electric variable control, two-dimensional position/channel control, etc., can solve the problem of uncertain wheeled mobile robot trajectory tracking, etc., and achieve good practical application value and Effects of social significance, overcoming external perturbations, improving trajectory tracking performance and robustness

Active Publication Date: 2018-11-27
HEFEI UNIV OF TECH
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Problems solved by technology

[0004] There is no shortage of existing academic achievements. Advanced control strategies have been designed to solve the trajectory tracking problem of wheeled mobile robots with uncertain paramete

Method used

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  • Self-adaptive trace tracking control method of uncertain wheel type mobile robot
  • Self-adaptive trace tracking control method of uncertain wheel type mobile robot
  • Self-adaptive trace tracking control method of uncertain wheel type mobile robot

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Embodiment Construction

[0056] In the control layer of the wheeled mobile robot system, there are two states to be controlled, which are the forward speed of the robot and the direction angle of the robot. In order to illustrate this patent in more detail, we take a mobile robot driven independently by two wheels as an example. The two front wheels of the mobile robot are independent drive wheels, each driven independently by a DC servo motor, and the speed difference between the two front wheels is realized by adjusting the respective input voltages, so as to adjust the positional relationship between the car body and the tracking track. The rear wheel of the mobile robot is a follower wheel, which only plays the role of supporting the car body and has no guiding role.

[0057] A system control method, comprising the steps of:

[0058] S1, establish the dynamic equation of the system model module of the wheeled mobile robot, the dynamic equation is

[0059]

[0060]

[0061] in Indicates t...

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Abstract

The invention discloses a self-adaptive trace tracking control method of an uncertain wheel type mobile robot. The self-adaptive trace tracking control method comprises the following steps: S1, establishing a kinetic equation of a system model module of the wheel type mobile robot; S2, aiming at unknown parameters of a robot system, adopting an integral inversion strategy to design a model of a control input module established based on a Lyapunov stability theory through a Lyapunov function recursion method. The self-adaptive trace tracking control method of the uncertain wheel type mobile robot, disclosed by the invention, has the advantages that influences of system parameter perturbation can be compensated relatively well, and the trace tracking performance and robustness of the mobilerobot are improved. Under conditions that part of parameters of a system are unknown and a boundary of external perturbation is unknown, the control precision is improved and the trace tracking performance and robustness of the mobile robot are ensured; the self-adaptive trace tracking control method has relatively good actual application value and social significance.

Description

technical field [0001] The invention relates to the field of control circuits, in particular to an adaptive trajectory tracking control method for an uncertain wheeled mobile robot. Background technique [0002] Wheeled mobile robot is a typical time-delay, nonlinear and unstable system. Its control problem has attracted a large number of researchers because of its theoretical challenge and wide practical application value. Wheeled mobile robots are constrained by pure rolling, which is a typical nonholonomic system. Its basic motion control objectives can be expressed as: 1) movement between two poses; 2) tracking a given time trajectory; 3) tracking a given geometric path. In the trajectory tracking control system of the mobile robot, due to the existence of unknown external interference and the instability of the system itself, there is always an error between the actual trajectory and the expected trajectory of the wheeled mobile robot. [0003] In order to eliminate t...

Claims

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Application Information

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IPC IPC(8): G05B13/04G05D1/02
CPCG05B13/042G05D1/0088G05D1/0212
Inventor 金小峥赵振王少凡
Owner HEFEI UNIV OF TECH
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