Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

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
View PDF8 Cites 39 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, sliding mode variable structure control will inevitably produce chattering, which will cause system instability and lead to failure of trajectory tracking.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • 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

Examples

Experimental program
Comparison scheme
Effect test

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...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G05D1/02
Inventor 贝旭颖平雪良高文研蒋毅
Owner JIANGNAN UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com