Network mobile robot locus tracking control method based on linearity auto-disturbance rejection

A mobile robot, linear active disturbance rejection technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of complex design process, poor flexibility, and large amount of calculation.

Inactive Publication Date: 2016-06-01
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0004] In order to overcome the deficiencies of the existing mobile robot trajectory tracking control methods, such as incompatibility, poor flexibility, large amount of calculation, complicated design process and no consideration of the network-induced delay phenomenon existing in trajectory tracking, the present invention...

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  • Network mobile robot locus tracking control method based on linearity auto-disturbance rejection
  • Network mobile robot locus tracking control method based on linearity auto-disturbance rejection
  • Network mobile robot locus tracking control method based on linearity auto-disturbance rejection

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Embodiment Construction

[0046] The present invention will be further described below in conjunction with the accompanying drawings.

[0047] refer to Figure 1 to Figure 3 , a networked mobile robot trajectory tracking control method based on linear active disturbance rejection, the method includes the following steps:

[0048] Step 1) According to the dynamic characteristics of the mobile robot, analyze its kinematics in the established global coordinate system, and assume that the center of mass and the axis of the driving wheel do not coincide, there is a distance d, and the tangential velocity is introduced in the velocity decomposition, so as to obtain a more A kinematic model that conforms to the actual situation;

[0049] Establish the kinematic model of the mobile robot:

[0050] x · ( t ) ...

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Abstract

The invention discloses a network mobile robot locus tracking control method based on linearity auto-disturbance rejection, comprising steps of establishing the moving robot locus tracking control system model containing communication delay, describing the uncertainty dynamic condition caused by the time delay as the uncertainty of the system model, designing an extended state observer for estimating the uncertainty of the locus tracking control system which is caused by the network time delay, designing a moving robot locus tracking linearity auto-disturbance rejection controller with the extended state observer to perform dynamic linearity compensation on the uncertainty dynamic condition caused by the time delay. As a result, the invention eliminates affects on the system performance which are caused by the network time delay and realizes the real-time compensation of the network time delay and the high accuracy locus tracking.

Description

technical field [0001] The invention relates to the field of mobile robot control, in particular to a trajectory tracking control method of a networked mobile robot based on linear active disturbance rejection. Background technique [0002] The changing trend in the field of robotics is transitioning from fixed manipulators on the production line to autonomous mobile robots that can do more complex tasks, such as rescue, military operations, and daily life services. In recent years, mobile robots have been widely used in different industrial processes, and the design of their control methods is regarded as a difficult point, because mobile robots are a typical class of incomplete systems. One of the key points of the mobile robot control problem is the trajectory tracking control. However, the tracking error system describing the trajectory tracking is a coupled nonlinear system, which does not satisfy Brockett's necessary conditions and thus complicates the control problem....

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/04
Inventor 张文安冯剑刘安东
Owner ZHEJIANG UNIV OF TECH
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