Target trajectory tracking method of mobile robot

Abstract

The invention discloses a target trajectory tracking method of a mobile robot. The method comprises the following steps: 1) establishing the motion equation of the mobile robot; 2) establishing a robot formation kinematics equation based on a virtual leader, and 3) designing an error shaping method and a controller to control a formation error. The target trajectory tracking method of the mobile robot can be applied to an actual non-holonomic mobile robot platform, can make the quickest response with the least system resources, and can be applied to different non-holonomic mobile robot platforms. A closed-loop system has global consistent asymptotic stability in an origin equilibrium state. The target trajectory tracking method can achieve satisfactory tracking effects for various desired values while not changing the value of a controller parameter, has a smooth and continuous controlled quantity change, reduces system mechanical and energy loss, and can prolong the effective operational use time and service life of the system.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a method for tracking and controlling a target trajectory of a mobile robot. Background technique [0002] Mobile robot is a kind of highly nonlinear, strongly coupled and time-varying dynamical system. It is difficult to establish an accurate dynamical model, and it is quite difficult to control it. In the trajectory tracking problem of mobile robots, the change of expected value with time is a difficult point in motion control. To solve this problem, control methods based on various nonlinear control theories are emerging. So far, the target trajectory tracking control methods of mobile robots mainly include: [0003] 1) Nonlinear state feedback control method; [0004] 2) sliding mode control method; [0005] 3) Back-Stepping control method; [0006] 4) Calculate the torque method; [0007] 5) Intelligent control methods, among which the most widely used intelligent...

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Problems solved by technology

[0009] 1) The biggest difficulty of the nonlinear state feedback control method is how to make the system globally asymptotically stable at the origin equilibrium state;

[0010] 2) The main problem of the sliding mode control method is the existence of "bucket vibration", and it is inevitable, which is determined by the characteristics of the sliding mode control method;

[0011] 3) The design process of the Back-Stepping method is relatively complicated when it is actually applied;

[0012] 4) The calculation torque method has high requirements for the dynamic model, and it is difficult to establish an accurate mathematical model even without any disturbance, so this method has little practical significance;

[0013] 5) The disadvantage of fuzzy control is that it requires expert experience to establish fuzzy rules, otherwise the control effect will be directly affected; neural network control requires online or offline learning, which takes up a lot of system resources and directly affects the real-time performance of the system

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