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Adaptive Integral Sliding Mode Control Method for 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: 2021-03-16
HUANGSHAN UNIV
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  • Abstract
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  • Application Information

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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 the prior art mobile robot under the influence of factors such as actuator input saturation constraints, model parameter uncertainty and external disturbances question

Method used

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  • Adaptive Integral Sliding Mode Control Method for Mobile Robot
  • Adaptive Integral Sliding Mode Control Method for Mobile Robot
  • Adaptive Integral Sliding Mode Control Method for Mobile Robot

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Embodiment Construction

[0082] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0083] like figure 1 — Figure 5 As shown, the adaptive integral sliding mode control method for mobile robots includes the following steps:

[0084] (1) Establish a mobile robot tracking control system model considering actuator saturation compensation. The specific process is as follows:

[0085] (1.1), the kinematics and dynamics model of the wheeled mobile robot can be expressed as

[0086]

[0087]

[0088] In the formula, q=[x y θ] T ∈R 3 Represents the pose vector of the mobile robot, where [x y] is the coordinate of the reference point of the mobile robot in the coordinate system, and θ is the direction angle of the mobile robot; η=[υ ω] T ∈R 2 Represents the velocity vector of the robot, which consists of the linear velocity and angular velocity of the mobile robot, where υ is the linear velocity and ω is the angular velocity; M(q...

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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's research on the tracking control problem has aroused great interest. However, because the mobile robot system itself has the characteristics of multi-variable, nonlinear and strong coupling, it is difficult for the 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 system's own parameter perturbation, external environment interference, and actuator saturation input constraints. In particular, the actuator saturation input constraint problem will not only affect the c...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 郭一军赵磊李铮芦莎
Owner HUANGSHAN UNIV
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