An Online Optimal Stabilization Control Method for Wheeled Mobile Stage Robot

A technology of stabilizing control and control method, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve problems such as difficulty in implementation, multiple setting parameters, complex online calculation, etc., and achieve simple online implementation and strong versatility , design simple effects
CN107168064BActive Publication Date: 2020-08-04ZHEJIANG UNIV OF TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
ZHEJIANG UNIV OF TECH
Publication Date
2020-08-04

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Abstract

An online optimization calmness control method for a wheel type movable stage robot aims at a requirement for realizing calmness controlling of the wheel type movable stage robot in a non-complete restraining condition. Firstly, through defining a discrete time three-order dynamics model of the wheel type movable stage robot and a randomly selected initial time limited time window control sequence, a calmness control error sequence in a time window and gradient of the error sequence relative to a controlled input sequence are calculated. Then a Newton's method is utilized for establishing an updating mechanism for each sampling time control sequence. Furthermore according to a rolling optimization control principle, a controlled input amount at each sampling time point is calculated, thereby realizing calmness controlling to the wheel type movable stage robot. The online optimization calmness control method according to the invention has advantages of easy understanding, small number of setting parameters, high versatility and simple online calculation. Furthermore the online optimization calmness control method satisfies a requirement for high real-time performance in quick calmness controlling of the wheel type movable stage robot.
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Description

technical field

[0001] The invention relates to an online optimization stabilization control method for a wheeled mobile stage robot. Background technique

[0002] Stage performance art has become an important part of our country's daily cultural life, and wheeled mobile stage robots are one of the important props to present high-quality stage performance art. Usually, during the performance of the repertoire, the stage robot needs to move quickly to the designated target position according to the change of the performance repertoire. The rapid arrival of the mobile stage robot to the designated position can be regarded as the stability control problem of the mobile robot. The goal of stabilization control is to obtain a feedback control law that makes the mobile stage robot asymptotically reach the target position. However, the wheeled mobile stage robot has non-holonomic constraints, and any smooth continuous time-invariant static state feedback control law cannot drive ...

Claims

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