Moving robot trajectory tracking control method based on event trigger

A mobile robot and event-triggered technology, which is used in the control of finding targets, program-controlled manipulators, manipulators, etc., to save network bandwidth resources, improve utilization, and reduce sampling times.

Active Publication Date: 2019-04-23
ANHUI UNIVERSITY
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  • Abstract
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AI Technical Summary

Problems solved by technology

[0025] The technical problem to be solved by the present invention is how to reduce resource consumption and improve resource utilization during robot trajectory tracking control

Method used

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  • Moving robot trajectory tracking control method based on event trigger
  • Moving robot trajectory tracking control method based on event trigger
  • Moving robot trajectory tracking control method based on event trigger

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Experimental program
Comparison scheme
Effect test

specific Embodiment approach

[0083] 1) Establish the error dynamic equation of the system

[0084] First establish the motion equation of the mobile robot:

[0085]

[0086] Where (x, y) is the coordinate of the mobile robot in the Cartesian coordinate system, θ is the angle between the robot’s motion direction and the positive direction of the x-axis, and (v, ω) is the control input vector.

[0087] The dynamic equation of the reference robot is:

[0088]

[0089] where (x r ,y r ) is the coordinates of the reference robot in the Cartesian coordinate system, θ r is the angle between the motion direction of the reference robot and the positive direction of the x-axis, (v r ,ω r ) is the control input vector of the reference robot.

[0090] The error coordinate system is introduced as follows:

[0091]

[0092] According to equations (1)-(3), the dynamic equation of system tracking error can be obtained as

[0093]

[0094] 2) Controller design, measurement error definition

[0095] In...

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Abstract

The invention provides a moving robot trajectory tracking control method based on event trigger. The moving robot trajectory tracking control method includes the steps that (1) a motion equation of amoving robot and a dynamic equation of a reference robot are established, and a dynamic equation of tracking errors is obtained by introducing an error coordinate system; (2) control input is designedand a state measurement error of control input is given; (3) event trigger conditions are designed to stabilize an error dynamic system, and the moving robot can track the trajectory of the referencerobot; (4) the event trigger conditions in the step (3) are calculated, if the event trigger conditions are met, an event is triggered, and the controller state is updated; and otherwise, updating isnot conducted; and (5), the step (2) is returned. The moving robot trajectory tracking control method based on event trigger has the advantages that an event trigger mechanism is added to system control input, asymptotic stability of a system is ensured, thus the robot can track the given reference robot trajectory, the number of sampling in system control is reduced, resource consumption is reduced, and the utilization rate is increased.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to an event-triggered trajectory tracking control method for a mobile robot. Background technique [0002] Compared with traditional industrial robots, mobile robots have the advantages of high work efficiency, simple driving and control, and flexible and convenient operation, so they have a wide range of applications in various fields. Among them, in the civilian field, mobile robots can replace humans in various heavy tasks, such as inspections of substation equipment, shopping mall security inspections, warehousing and logistics distribution and other occasions. In the military field, various unmanned combat aircraft, bomb disposal and explosion-proof robots are increasingly widely used. Therefore, with the increasing maturity of intelligent technology, all kinds of mobile robots will have a wider range of applications. [0003] Trajectory tracking control is a basic prob...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/12B25J9/16
CPCG05D1/12B25J9/1628
Inventor 樊渊陈浩浩宋程
Owner ANHUI UNIVERSITY
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