Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Trajectory tracking control method for omni-directional mobile robot with unknown motor parameters

A technology of omnidirectional movement and control method, which is applied in the control field of trajectory tracking of three-wheeled omnidirectional mobile robots, can solve the problems of difficulty in establishing a mathematical model of motor and friction force, many parameters, and difficult to measure, etc. The control algorithm is simple and the effect of improving the accuracy

Active Publication Date: 2019-04-19
TIANJIN UNIV
View PDF5 Cites 2 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

But in practice, there are various types of motors, many parameters and difficult to measure. At the same time, the mathematical model of the motor and friction is difficult to establish, and there are certain errors

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Trajectory tracking control method for omni-directional mobile robot with unknown motor parameters
  • Trajectory tracking control method for omni-directional mobile robot with unknown motor parameters
  • Trajectory tracking control method for omni-directional mobile robot with unknown motor parameters

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0050] Based on the trajectory tracking control method of the omnidirectional mobile robot with unknown motor parameters of the adaptive sliding mode observer, this scheme uses adaptive sliding mode control to estimate the unknown motor parameters and effectively control the omnidirectional mobile robot. And use the optimized extended state observer to estimate the total disturbance of the system, including the friction disturbance part, the unmodeled part, parameter uncertainty and external disturbance, and finally realize the trajectory tracking control and achieve the goal of precise trajectory tracking control. The extended state observer is used to actively extract the disturbance information from the input and output signals of the controlled object, so that the disturbance can be eliminated by the control signal before the disturbance affects the system. This scheme is a kind of control that actively eliminates disturbance, which reduces the dependence on the precise mod...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention relates to a trajectory tracking control method for an omni-directional mobile robot with unknown motor parameters. The trajectory tracking control method comprises the following steps that 1, a system dynamic model of the omnidirectional mobile robot is built; 2, an optimized sliding formwork expansion state observer is designed according to the dynamic model (1); and 3, a self-adaption sliding formwork controller is designed to give out an update algorithm.

Description

technical field [0001] The invention relates to a control problem of trajectory tracking of a three-wheel omnidirectional mobile robot. Aiming at the problems of external disturbance and unknown motor parameters in the omni-directional mobile robot system, an adaptive sliding mode control method is designed by using the structural characteristics of the robot dynamic system itself, and at the same time, the optimized extended state observer is used to control the internal and external disturbances of the system. Partially designed to estimate compensation methods. A trajectory tracking control method for an omnidirectional mobile robot with unknown motor parameters is proposed. Background technique [0002] Omnidirectional mobile robot is a robot with complete 3 degrees of freedom, which has higher maneuverability and flexibility than ordinary robots. It can change direction and move in any direction without reorientation. Due to its uniqueness in daily life and various in...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 任超王剑马书根
Owner TIANJIN UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com