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Wheeled mobile robot control method

A mobile robot and control method technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem of not considering the chattering problem, so as to improve the anti-interference ability, enhance the system stability, weaken the The effect of output chattering

Active Publication Date: 2019-08-02
ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID NINGXIA ELECTRIC POWER COMPANY +1
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Problems solved by technology

For example, the adaptive neuron position controller method is used to effectively solve the problem of error mutation in the initial stage of control and reduce system input chattering; the radial basis neural network sliding mode control is used to control the dynamic approximation controller parameters, so that the system is at or closest to Optimal state: the combination of PID and terminal sliding mode control makes the system converge to a stable state within a limited time, and has a certain anti-interference ability to external disturbances, but still does not consider the chattering problem

Method used

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Embodiment 1

[0066] 1. Establish a wheeled mobile robot (WMR) kinematics model:

[0067] (1) A brief description of WMR;

[0068] WMRs are widely used due to their structural flexibility and functional diversity. It can be designed according to different application scenarios, and function planning can be carried out according to the tasks to be completed. This paper studies the most widely used trajectory tracking problem of WMR.

[0069] The essence of WMR is a control system with autonomous navigation capability, and its ability to track a specific trajectory is obviously very important. However, in actual engineering, especially in places with many obstacles, the path obtained by searching or fitting often does not conform to the ideal kinematics or dynamics model. Therefore, in the design of WMR trajectory tracking, consider External disturbances are of great significance to the feasibility, safety and autonomy of mobile robots. This paper makes the following assumptions about the ...

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Abstract

The invention relates to a wheeled mobile robot control method. The method is characterized by comprising the following steps of 1, establishing a kinematic model of a wheeled mobile robot; and 2, establishing a double closed-loop system and tracking the position track and angle of the mobile robot through a nonsingular terminal sliding mode and generalized type-2 fuzzy combined method, specifically, tracking the position track of the mobile robot by the outer loop of the double closed-loop system, tracking the angle of the mobile robot by the inner loop of the double closed-loop system, taking a sliding mode surface as control input of a fuzzy system by both the outer loop and the inner loop, taking the output of the fuzzy system as a sliding mode reaching law parameter, and designing theconvergence speed of the inner loop to be higher than the convergence speed of the outer loop. The invention discloses the wheeled mobile robot control method, particularly relates to a double closed-loop control system; and through a generalized type-2 fuzzy control and sliding mode control combined method, the external interference resistance is improved and the systems stability is enhanced.

Description

technical field [0001] The invention relates to a control method of a wheeled mobile robot. Background technique [0002] Mobile robots can complete many dangerous tasks by moving themselves, effectively replacing manpower, such as mine clearance, seabed survey, unmanned vehicle driving, coal mine underground work, etc., and have great practical value in many fields such as military, marine, and human life. At the same time, robot research technology is becoming more and more mature, and its production and application have become an important symbol to measure the country's scientific and technological innovation capabilities and high-end manufacturing capabilities. The wheeled mobile robot (WMR) studied in the present invention is a typical non-holonomic system with multiple inputs and multiple outputs, which controls the moving speed and driving direction of the robot through the differential drive of the two rear wheels. When the dual rear wheels are differentially drive...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/0275G05B13/042
Inventor 马飞越丁培周秀马波何宁辉闫振华高博张庆平刘威峰李奇超伍弘张佩韩吉霞佃松宜赵涛
Owner ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID NINGXIA ELECTRIC POWER COMPANY
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