A Debounce Control Method for Nonholonomic Robots Based on Sliding Mode Observer

A sliding mode observer and control method technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as unfavorable practical application, large amount of calculation, complex algorithm calculation, etc., and achieve clear physical meaning and good motion stability. , the effect of simple parameters

Active Publication Date: 2021-09-28
HOHAI UNIV CHANGZHOU
View PDF6 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, there are roughly three control algorithms for non-holonomic robots: (1) adaptive control, (2) robust control, and (3) gain adjustment control; however, these algorithms are computationally complex, computationally intensive, and require high real-time performance of the system , which will increase the cost of algorithm implementation, which is not conducive to practical application

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
  • A Debounce Control Method for Nonholonomic Robots Based on Sliding Mode Observer
  • A Debounce Control Method for Nonholonomic Robots Based on Sliding Mode Observer
  • A Debounce Control Method for Nonholonomic Robots Based on Sliding Mode Observer

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0027] like figure 1 As shown, a nonholonomic robot debounce control method based on a sliding mode observer includes the following steps:

[0028] (1), use the Cartesian coordinate system to describe the formation motion of multiple nonholonomic robots in the plane; the dynamic model of the nonholonomic robot with unknown external disturbance is obtained by formula (1):

[0029]

[0030] In formula (1), [x i ,y i ] T ∈ R 2 Represents the position coordinates of the i-th non-holonomic robot in the plane, θ i is the angle between the speed direction of the i-th non-holonomic robot and the positive direction of the X-axis, v i Indicates the forward linear velocity of the i-th non-holonomic robot, ω i Indicates the angular velocity of the rotation of the i-th non-holonomic robot; τ i1 Indicates the linear velocity and torque input of the i-th non-holonomic robot; τ i2 Indicates the angular velocity and torque input of the i-th non-holonomic robot, [l i1 , l i2 ]∈R is...

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 discloses a nonholonomic robot debounce control method based on a sliding mode observer. The debounce control process is divided into the following steps: (1) establishing a dynamic model for the nonholonomic robot formation task; A sensor is installed on the robot body to transmit the position and speed of the incomplete robot during the control process from time to time; (3) Design a sliding mode observer and transmit the position data and speed data collected by the sensor to the debounce control algorithm In the module, the non-holonomic robot can adjust its own movement from time to time so as to ensure that it can move according to the prescribed route. The non-holonomic robot debounce control method based on the sliding mode observer of the present invention is pure geometric operation, simple and easy to understand, stable algorithm, low requirement on hardware equipment, stable motion, strong practicability, and easy commercialization.

Description

technical field [0001] The invention relates to the technical field of nonholonomic robot debounce control, in particular to a nonholonomic robot debounce control method based on a sliding mode observer. Background technique [0002] At present, the application of incomplete robots has penetrated into almost all walks of life. Non-holonomic robots have the advantages of light weight, large load, relatively convenient driving and control, fast walking speed, and high work efficiency, so they stand out from all kinds of robots. [0003] Using nonholonomic robots to solve the problem of external disturbances during their motion is a challenging task that has attracted more and more attention in the field of control. The debounce technology has its own complexity, which is mainly manifested in: the external disturbance is often unknown, and there is a time delay in the self-adjustment attitude of the non-holonomic robot. Formation missions with nonholonomic robots have been on...

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
Patent Type & AuthorityPatents(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1694
Inventor徐深徐栋张望鸿卫玲玲姬翠翠
OwnerHOHAI UNIV CHANGZHOU