Adaptive integral sliding mode control method of mobile robot

A technology of mobile robot and integral sliding mode, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., and can solve problems such as model parameter uncertainty

Active Publication Date: 2018-10-02
HUANGSHAN UNIV
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  • Abstract
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Problems solved by technology

[0004] The purpose of the present invention is to provide a mobile robot adaptive integral sliding mode control method to solve the high-performance tracking control of

Method used

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  • Adaptive integral sliding mode control method of mobile robot
  • Adaptive integral sliding mode control method of mobile robot
  • Adaptive integral sliding mode control method of mobile robot

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Embodiment Construction

[0083] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0084] Such as figure 1 — Figure 5 As shown, the mobile robot adaptive integral sliding mode control method includes the following steps:

[0085] (1) Establish a mobile robot tracking control system model considering actuator saturation compensation, the specific process is as follows:

[0086] (1.1), the kinematics and dynamics model of the wheeled mobile robot can be expressed as

[0087]

[0088]

[0089] In the formula, q=[x y θ] T ∈ R 3 Indicates the pose vector of the mobile robot, where [x y] is the coordinates of the reference point of the mobile robot in the coordinate system, and θ is the direction angle of the mobile robot; η=[υω] T ∈ R 2 Indicates the velocity vector of the robot, which is composed of the linear velocity and angular velocity of the mobile robot, where υ is the linear velocity and ω is the angular velocity; M(...

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Abstract

The invention discloses an adaptive integral sliding mode control method of a mobile robot with consideration of actuator saturation compensation. The method comprises: establishing a mobile robot tracking control system model considering actuator saturation compensation; designing an auxiliary speed controller; designing an extended state observation; and designing mobile robot adaptive integralsliding mode controller with consideration of actuator saturation compensation. Therefore, the system jitter amplitude is weakened and the system stability and robustness are improved while the quickand stable convergence of the system tracking error is ensured.

Description

technical field [0001] The invention relates to the field of robot control methods, in particular to a mobile robot adaptive integral sliding mode control method considering actuator saturation compensation. Background technique [0002] In recent years, due to the wide application of mobile robots in factory automation, logistics industry, smart home, space exploration and other fields, people have aroused great interest in the research of tracking control problems. However, because the mobile robot system itself has the characteristics of multivariable, nonlinear and strong coupling, it is difficult for conventional control methods to meet its high-precision control requirements. In addition, in the actual control process of the mobile robot, it will be affected by the perturbation of the system's own parameters, external environmental interference, and actuator saturation input constraints. lead to system instability. Therefore, it is necessary to compensate for the adv...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 郭一军赵磊李铮芦莎
Owner HUANGSHAN UNIV
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