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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

Active Publication Date: 2017-10-20
SOUTHEAST UNIV
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Problems solved by technology

On the one hand, some neglected inherent nonlinear characteristics of the actual system should be considered, such as friction, clearance, actuator saturation, etc.; on the other hand, the system will also be affected by external disturbances and unknown parameters. The model has a large deviation
The control law designed based on the ideal mathematical model is often difficult to achieve the required control index, and even cause system instability
Need to find ways to eliminate the adverse effects of system uncertainty, which brings greater challenges to motion control

Method used

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  • Variable structure adaptive trajectory tracking control method of mobile robot
  • Variable structure adaptive trajectory tracking control method of mobile robot
  • Variable structure adaptive trajectory tracking control method of mobile robot

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Embodiment Construction

[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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Abstract

The invention discloses a variable structure adaptive trajectory tracking control method of a mobile robot. The method includes the steps of obtaining the actual linear speed and angular speed of a robot according to angular speed of left and right wheels of the mobile robot obtained by a photoelectric encoder, and calculating a deviation; calculating to obtain a deviation between a reference pose and an actual pose according to infrared rays and the pose of the wheeled mobile robot obtained by a gyroscope; and establishing a nonholonomic constraint mobile robot model, converting the model into an angular speed-related second-order subsystem and a linear speed-related third-order subsystem, further obtaining the controlled quantity of the mobile robot, and obtaining input torque of the mobile robot through the controlled quantity. The variable structure adaptive trajectory tracking control method of the mobile robot can realize trajectory tracking control of the mobile robot under the circumstance of unknown parameters and external disturbance, can enable a pose tracking error of the mobile robot to converge to arbitrarily small neighborhood containing the origin, has a good tracking effect, and has relatively high robustness.

Description

technical field [0001] The invention belongs to the field of trajectory tracking control of a mobile robot, and in particular relates to a variable structure adaptive trajectory tracking control method of a mobile robot. Background technique [0002] A mobile robot is a mobile platform that integrates multiple functions such as environment perception, dynamic decision-making and planning, behavior control and execution. Purposeful autonomous movement and the completion of specific job functions. Due to the incomparable advantages of mobile robots in automatic material handling, special population services, emergency rescue, exploration of unknown and dangerous areas, etc., mobile robots have been widely used in fields such as industry and agriculture, service industry, national defense, and space exploration. It has had a positive and far-reaching impact on production and life. [0003] A nonholonomic mobile robot is a typical multiple-input multiple-output coupling undera...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0242
Inventor 翟军勇宋志宝费树岷
Owner SOUTHEAST UNIV
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