Variable structure adaptive trajectory tracking control method of mobile robot
A mobile robot, trajectory tracking technology, applied in non-electric variable control, two-dimensional position/channel control, control/regulation system, etc., can solve problems such as system instability, deviation of ideal mathematical model, and difficulty in achieving control indicators, etc. Achieve strong robustness and good tracking effect
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[0040] The present invention will be further described below in conjunction with accompanying drawing:
[0041] Such as Figure 1-Figure 6 As shown, a variable structure adaptive trajectory tracking control method of a mobile robot proposed by the present invention includes the following specific steps:
[0042] Step (1): Use the photoelectric encoder to obtain the angular velocity of the left and right wheels of the mobile robot, so as to obtain the actual linear velocity and angular velocity υ, ω of the robot, and calculate the deviation υ-υ r ,ω-ω r , where υ r ,ω r They are the reference linear velocity and angular velocity; use infrared and gyroscope to obtain the pose (x,y,θ) of the wheeled mobile robot; calculate the reference pose (x r ,y r ,θ r ) and the actual pose (x, y, θ) deviation (x e ,y e ,θ e );
[0043] Step (2): According to (x e ,y e ,θ e ) to establish a nonholonomic constrained mobile robot error model, and transform it into a second-order su...
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