Adaptive trajectory tracking control circuit for uncertain wheeled mobile robot

Abstract

The invention discloses an adaptive trajectory tracking control circuit for an uncertain wheeled mobile robot. The adaptive trajectory tracking control circuit comprises an error acquisition module, an intermediate variable module, a control input module, a parameter adjustment module, a system model module and a tracking target module, wherein the output end of the system model module is respectively connected with the error acquisition module, the control input module and the parameter adjustment module, the tracking target module is connected with the error acquisition module and the intermediate variable module, the error acquisition module is also connected with the intermediate variable module, the control input module and the parameter adjustment module, the intermediate variable module is also respectively connected with the control input module and the parameter adjustment module, the control input module is connected with the parameter adjustment module, and the control inputmodule is connected with the system model module. The scheme of the invention has the advantages that the control circuit is combined and used through each arithmetic unit, and the implemented control circuit can better compensate the influence of the system parameter perturbation and improve the trajectory tracking performance and robustness of the mobile robot.

Description

technical field [0001] The invention relates to the field of control circuits, in particular to an adaptive trajectory tracking control circuit for an uncertain wheeled mobile robot. Background technique [0002] Wheeled mobile robot is a typical time-delay, nonlinear and unstable system. Its control problem has attracted a large number of researchers because of its theoretical challenge and wide practical application value. Wheeled mobile robots are constrained by pure rolling, which is a typical incomplete system. Its basic motion control objectives can be expressed as: 1) movement between two poses; 2) tracking a given time trajectory; 3) tracking a given geometric path. In the trajectory tracking control system of the mobile robot, due to the existence of unknown external interference and the instability of the system itself, there is always an error between the actual trajectory and the expected trajectory of the wheeled mobile robot. [0003] In order to eliminate th...

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Problems solved by technology

[0004] There is no shortage of existing academic achievements. Advanced control strategies have been designed to solve the trajectory tracking problem of wheeled mobile robots with uncertain parameters, but they have not been developed to better compensate the influence of system parameter perturbation and improve the trajectory tracking performance of mobile robots. and robust control circuitry

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