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Self-adaptive sliding mode control method and system and mobile robot controller

A mobile robot, self-adaptive sliding mode technology, applied in the control/regulation system, non-electric variable control, two-dimensional position/channel control and other directions, can solve the problems of system instability, trajectory tracking failure, etc. Robustness, the effect of reducing chattering phenomena

Active Publication Date: 2020-09-11
NANYANG NORMAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the existence of the constant velocity approach law in the sliding mode control process, chattering will inevitably occur, which will cause system instability and lead to failure of trajectory tracking.

Method used

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  • Self-adaptive sliding mode control method and system and mobile robot controller
  • Self-adaptive sliding mode control method and system and mobile robot controller
  • Self-adaptive sliding mode control method and system and mobile robot controller

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0055] Wheeled mobile robot models, such as figure 1 As shown, the mobile robot in the figure has relatively obvious structural features. There are two driving wheels, mainly used to drive the system, and two follower wheels, mainly to grasp the direction of motion. Two DC motors are respectively configured to pair The left and right driving wheels are controlled. When the speeds of the two motors are inconsistent, the resulting speed difference controls the robot to turn in a certain direction through the driving wheels, thereby realizing the turning of the robot.

[0056] An adaptive sliding mode control method provided by an embodiment of the present invention includes:

[0057] Taking the midpoint coordinates of the driving wheels on the wheeled mobile robot as the position of the wheeled mobile robot, establishing and obtaining the kinematic equation of the wheeled mobile robot according to the control input signal, and obtaining the expected pose coordinates through the ...

Embodiment 2

[0128] Such as figure 2 As shown, the embodiment of the present invention also provides an adaptive sliding mode control system, including:

[0129] The global pose deviation module 11 is used to adjust the input signal of the robot under the condition of satisfying the motion constraints of the robot according to the expected running trajectory of the system, and then determine the pose coordinates of the robot in each motion state and convert the current pose The coordinates are compared with the expected pose coordinates to obtain the global pose deviation;

[0130] The deviation conversion module 12 is used to perform deviation conversion according to the global pose deviation obtained by the global pose deviation module 11, and output the local pose deviation to the local pose deviation module 13 through the transformation matrix;

[0131] The local pose deviation module 13 is used to receive the data converted by the deviation conversion module 12 and output the data t...

Embodiment 3

[0134] The embodiment of the present invention also provides a mobile robot controller, including a processor 21 and a memory 22, and a computer program is stored in the memory, and when the computer program is executed by the processor, it can realize any of the above-mentioned The adaptive sliding mode control method described above.

[0135] Such as Figure 14 As shown, the communication bus 23 is used to realize connection and communication between these components, and the memory 22 may optionally also be a storage device independent of the aforementioned processor 21 . Those skilled in the art can understand that, Figure 14 The structure of the task processing device shown in is not limited to the task processing device, and may include more or less components than shown in the figure, or combine some components, or arrange different components. Figure 14 The memory 22 as a computer storage medium may include an operating system, a network communication module, and a...

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Abstract

The invention discloses a self-adaptive sliding mode control method and system and a mobile robot controller. According to the method, the advantages of self-adaptive control and sliding mode controlare integrated, and a sliding mode control law of which the switching gain can be adaptively adjusted is designed. The control law is composed of two parts, wherein the first part is the design of a sliding mode control law, the second part is the design of a switching gain self-adaptive updating law. The method is based on a kinematics model and a trajectory tracking error model of the mobile robot. A trajectory tracking error differential equation of the mobile robot is deduced, a sliding mode control law is designed by applying a constant-speed reaching law method based on a switching function, an adaptive updating law of switching gain is deduced according to the designed sliding mode control law, and the adaptive sliding mode control law can enable the mobile robot to quickly convergeto an expected trajectory and an expected speed.

Description

technical field [0001] The invention relates to the technical field of motion control of mobile robots, in particular to an adaptive sliding mode control method, system and mobile robot controller. Background technique [0002] Wheeled mobile robot is an intelligent mobile platform integrating multiple functions such as environmental perception, dynamic decision-making and planning, behavior control and execution. Compared with traditional industrial robots, wheeled mobile robot has stronger flexibility and greater Therefore, it has been widely used in various military and civilian occasions. The non-holonomic wheeled mobile robot is a typical nonlinear system with multiple inputs and multiple outputs. Due to the incomplete and underactuated characteristics of its system model, it has become a research hotspot for many researchers. The motion control of wheeled mobile robot is mainly divided into three aspects: point stabilization, path following and trajectory tracking. T...

Claims

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Application Information

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IPC IPC(8): G05D1/02B25J5/00
CPCG05D1/0253G05D1/0223G05D1/0221G05D1/0278G05D1/0276B25J5/007
Inventor 崔明月刘红钊张新刚蒋华龙刘伟赵金姬刘丽莎
Owner NANYANG NORMAL UNIV
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