Trajectory tracking control method for mobile robot based on sliding mode variable structure

A mobile robot, sliding mode variable structure technology, applied in two-dimensional position/channel control, etc., can solve problems such as system instability and trajectory tracking failure, achieve good stability and robustness, improve accuracy, and reduce vibration The effect of the vibration phenomenon

Inactive Publication Date: 2017-09-15
JIANGNAN UNIV
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Problems solved by technology

However, sliding mode variable structure control will inevitably produce chatte...

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  • Trajectory tracking control method for mobile robot based on sliding mode variable structure
  • Trajectory tracking control method for mobile robot based on sliding mode variable structure
  • Trajectory tracking control method for mobile robot based on sliding mode variable structure

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Embodiment Construction

[0032] The present invention is described in detail below in conjunction with accompanying drawing:

[0033] Such as Figure 1-Figure 8 As shown, the present invention designs a mobile robot trajectory tracking control method based on sliding mode variable structure, comprising the following steps:

[0034] Step (1) establishes the kinematics model of mobile robot;

[0035] Step (2) establishes the trajectory tracking error model of the mobile robot, and derives the trajectory tracking error differential equation;

[0036] Step (3) Design an appropriate switching function (s 1 ,s 2 ) T ;

[0037] Step (4) Analyze the advantages and disadvantages of different reaching laws, and design a new reaching law Improve the rapidity and stability of the control system, effectively weaken the chattering phenomenon;

[0038] Step (5) according to the switching function of step (3) (s 1 ,s 2 ) T and the reaching law of step (4) Deriving the control law (υ,ω) for the mobile rob...

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Abstract

The invention discloses a trajectory tracking control method for a mobile robot based on a sliding mode variable structure. According to the trajectory tracking control method, advantages and disadvantages of different reaching laws are comprehensively analyzed, and a reaching law with better rapidity and stability is proposed and designed. The reaching law is composed of two items, wherein the first item is that the system state is controlled to rapidly approach to a sliding mode surface when being far away from the sliding mode surface, and the second item is that the system state is controlled to keep stable running in the sliding mode surface. The trajectory tracking control method comprises the steps of firstly building a kinematics model and a trajectory tracking error model of the mobile robot, and deducing a mobile robot trajectory tracking error differential equation; and then designing a switching function based on the sliding mode variable structure, and deducing a sliding mode control law according to the designed reaching law, wherein the control law can enable the mobile robot to rapidly converge to an expected trajectory and expected speed. It is indicated by MATLAB numerical simulation that the trajectory tracking control method can effectively weaken a chattering phenomenon in the tracking process and improve the trajectory running accuracy. In addition, the trajectory tracking control method has good stability and robustness.

Description

technical field [0001] The invention belongs to the field of track tracking control of a wheeled mobile robot, in particular to a track tracking control method of a mobile robot based on a sliding mode variable structure. 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, mobile robots have the characteristics of flexible movement, strong carrying capacity and high work efficiency. In recent years, it has been widely used in the service industry, aerospace and earthquake relief and other fields. [0003] The non-holonomic wheeled mobile robot is a typical nonlinear system with multiple inputs and multiple outputs. Due to the complexity of its system model, it has become a research hotspot for many researchers. The motion control of wheeled mobile robot is mainly d...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 贝旭颖平雪良高文研蒋毅
Owner JIANGNAN UNIV
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