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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

Active Publication Date: 2020-08-04
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0003] In order to overcome the deficiencies of the existing stabilization control methods for wheeled mobile stage robots, which have many setting parameters, complex online calculations and difficult implementation, the present invention provides an online optimized stabilization control for wheeled mobile stage robots that is intuitive to understand, simple in design, and easy to calculate online. method

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  • An Online Optimal Stabilization Control Method for Wheeled Mobile Stage Robot
  • An Online Optimal Stabilization Control Method for Wheeled Mobile Stage Robot
  • An Online Optimal Stabilization Control Method for Wheeled Mobile Stage Robot

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Embodiment Construction

[0039] The present invention will be further described below in conjunction with the accompanying drawings.

[0040] refer to Figure 1 ~ Figure 3 , an on-line optimized stabilization control method for a wheeled mobile stage robot, the control method comprising the steps of:

[0041] 1) Establish a discrete-time dynamic model for the moving process of the wheeled mobile stage robot, see formula (1):

[0042]

[0043] Among them, the normal constant T s Represents the sampling period, variable k represents the sampling moment; x 1 (k) and x 2 (k) respectively represent the position coordinates of the wheeled mobile stage robot in the X direction and the Y direction in the stage Cartesian coordinate system at time k; x 3 (k) represents the azimuth angle of the wheeled mobile stage robot in the Cartesian coordinate system at time k; u 1 (k) and u 2 (k) represent respectively the linear velocity and the angular velocity of the wheeled mobile stage robot at k moments; con...

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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.

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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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 何德峰姬超超倪洪杰郭晓慧
Owner ZHEJIANG UNIV OF TECH
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