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Mobile robot trajectory tracking new method based on adaptive sliding mode control

A mobile robot, adaptive sliding mode technology, applied in the direction of adaptive control, general control system, non-electric variable control, etc., can solve problems such as inapplicability to mobile robots

Inactive Publication Date: 2019-05-10
HARBIN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The document "A New Adaptive Sliding Mode Control for Permanent Magnet Synchronous Motors" proposes adaptive sliding mode control for permanent magnet motors, but it is not suitable for mobile robots

Method used

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  • Mobile robot trajectory tracking new method based on adaptive sliding mode control
  • Mobile robot trajectory tracking new method based on adaptive sliding mode control
  • Mobile robot trajectory tracking new method based on adaptive sliding mode control

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Experimental program
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Effect test

specific Embodiment approach 1

[0021] Specific implementation mode one: the general wheeled mobile robot is simplified to a two-wheeled model, such as figure 1 As shown in , assuming that the rotating wheel can only rotate forward and backward and steer differentially, the pose of the wheeled mobile robot in the two-dimensional environment is q c =[x c the y c θ c ] T , C is the geometric center point, and it is assumed to be collinear with the axes of the wheels on both sides, x c is the position coordinate of the center point in the X direction, y c is the position coordinate of the center point in the Y direction, θ c It is the angle between the moving direction of the wheeled mobile robot and the positive direction of the X axis. The radius of the wheel is r, and the distance between the centers of the wheels on both sides is 2l. Ideally, v c and w c Respectively, the linear velocity and angular velocity of the center of mass when moving forward, that is, the current motion command of the rob...

specific Embodiment approach 2

[0027] Specific implementation mode 2: This implementation mode further explains a new method of trajectory tracking of a mobile robot based on adaptive sliding mode control, and analyzes the kinematics model coupled with sliding and turning of the robot to obtain a compensation model. The relationship between the rotation of the wheels on both sides and the motion state of the center of mass of the vehicle is:

[0028]

[0029] where ω cl and ω cr are the rotational angular velocities of the left and right wheels. In particular, only the slip rate along the forward direction of each wheel is considered for rigidly constrained wheels.

[0030] Define the slip rate as:

[0031]

[0032] where let v sl and v sr is the effective driving speed of the left and right wheels to the center of mass, v l and v r is the actual sending speed of the wheel, s sl and s sr are the slip ratios of the left and right wheels, respectively.

[0033] Assuming that there is no transm...

specific Embodiment approach 3

[0045] Specific Embodiment Three: This embodiment is a further description of a new method for trajectory tracking of a mobile robot based on adaptive sliding mode control. When the vehicle is running on complex terrain, due to wheel subsidence, ground deformation and other reasons, there will be loss of motion state other than slipping, such as slipping.

[0046] Remember V e is the motion error term V e =[v e ω e ] T , is the deviation between the target motion state and the actual motion state. This method adopts the sliding mode variable structure control method to design the trajectory tracking controller of the wheeled mobile robot, and proposes an adaptive fast double power reaching law, and designs the trajectory tracking controller of the wheeled mobile robot accordingly.

[0047] The sliding mode switching function is designed as:

[0048]

[0049] Choose a fast double power reaching law:

[0050]

[0051] where k 1 ,k 2 ,k 3 >0,01 2 >1.

[0052] Acco...

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Abstract

The invention provides a mobile robot trajectory tracking new method based on adaptive sliding mode control. In a soft and rugged environment, a mobile robot encounters problems such as trackslip, slippage and the like, which may cause an indefinite deviation between an actual motion state and a target motion state of the mobile robot. The kinematic mechanism generated by the error is analyzed, and a trajectory tracking trackslip compensation model of a wheeled mobile robot is obtained by the method. Errors generated by other uncertain tracking errors such as slippage need to be eliminated byusing a control method with high robustness. The invention proposes an adaptive fast dual-power sliding mode control rate, which can not only ensure the trajectory tracking effect, but also can inhibit the buffeting in the tracking process. In an environment in which an unstable motion state is generated easily, trackslip compensation and the adaptive fast dual-power sliding mode control rate areapplied by the method to inhibit the trajectory tracking error of the wheeled mobile robot, thereby ensuring the timeliness and the stability of the trajectory tracking.

Description

technical field [0001] The invention belongs to the field of trajectory tracking of wheeled mobile robots, and relates to a new method for trajectory tracking of mobile robots based on adaptive sliding mode control. Background technique [0002] Wheeled mobile robots have mature and extensive applications in the exploration of ground and planetary environments. The current research on wheeled mobile robots is mainly based on the assumption that there is no slip or slip between the wheel and the ground to simplify the description and analysis of the problem. This "ideal non-holonomic constraint" is approximately true when the ground is hard and the friction coefficient of the vehicle is large enough. However, in the terrain that does not meet the above conditions, slipping and slipping are inevitable. The wheeled mobile designed based on the above assumptions Robot control strategies obviously cannot ensure high-quality completion of trajectory tracking tasks. [0003] For ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G05D1/02G05D1/12
CPCG05D1/0212
Inventor 尤波李智丁亮刘大权
Owner HARBIN UNIV OF SCI & TECH
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