Cascading system theory-based track tracing control method of wheeled mobile robot

A mobile robot and trajectory tracking technology, applied in the direction of non-electric variable control, two-dimensional position/channel control, adaptive control, etc., can solve the problem that the state feedback controller cannot realize asymptotic tracking control, etc., and achieve convenient programming language , easy to implement, and universally applicable

Active Publication Date: 2019-12-20
SOUTHEAST UNIV
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Problems solved by technology

The wheeled mobile robot system is a typical multi-input multi-output, underactuated, non-holonomic nonlinear system, which do

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  • Cascading system theory-based track tracing control method of wheeled mobile robot
  • Cascading system theory-based track tracing control method of wheeled mobile robot
  • Cascading system theory-based track tracing control method of wheeled mobile robot

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Embodiment Construction

[0049] The present invention will be further described below in conjunction with the accompanying drawings.

[0050] Step 1: Establish the kinematics model of the wheeled mobile robot and the given expected trajectory respectively

[0051] The motion model of a wheeled mobile robot is as follows: figure 1 shown. Among them, X-Y is the established Cartesian coordinate system. Point C is the center of mass of the wheeled mobile robot, (x(t), y(t)) is the Cartesian coordinate description of the center of mass of the wheeled mobile robot at time t (x(t)∈R, y(t)∈R , R is a set of real numbers), θ(t) is the deflection angle of the mobile robot’s motion direction relative to the X-axis at time t (θ(t)∈(-π,π]), v(t), ω(t) Indicates the displacement linear velocity and rotational angular velocity of the mobile robot fed back by the sensor at time t, which is used as the output signal of the closed-loop trajectory tracking error system controller.

[0052] Therefore, the kinematics ...

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Abstract

The invention discloses a cascading system theory-based track tracing control method of a wheeled mobile robot. The cascading system theory-based track tracing control method comprises the steps of firstly, building a three-degree of freedom kinematic model of the wheeled mobile robot under a Cartesian coordinate system, and giving an expected track kinematic expression form by the robot kinematicmodel; secondly, introducing a pose error, and building a track tracing error system kinematic model by global coordinate conversion; and finally, designing a track tracing control method according to a cascading system theory, and selecting an appropriate control parameter so that a closed-loop track error system globally approaches to stability, a tracking error approaches to 0 and real-time and accurate tracking of expected motion track by the robot is achieved. The cascading system theory-based track tracing control method is simple in form and high in practicability, the tracing of the wheeled mobile robot on the expected motion track can be effectively achieved, and the cascading system theory-based track tracing control method has very wide application prospect.

Description

technical field [0001] The invention belongs to the technical field of motion control of wheeled mobile robots, and in particular relates to a trajectory tracking control method for wheeled mobile robots based on cascade system theory. Background technique [0002] Generally, a mobile robot is defined as an intelligent robot that can independently and continuously complete tasks indoors or outdoors according to software program settings. It is a comprehensive system that integrates multiple tasks such as real-time acquisition of sensing information, dynamic decision-making of control behavior, and real-time execution of behavioral responses. cutting-edge theoretical knowledge in multiple disciplines. [0003] Trajectory tracking control of a wheeled mobile robot means that the wheeled mobile robot tracks the desired static or dynamic trajectory instantly and accurately, so that the tracking error eventually converges to zero, that is, the closed-loop tracking error system o...

Claims

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Application Information

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IPC IPC(8): G05D1/02G05B13/04
CPCG05D1/0212G05B13/042
Inventor 王翔宇刘维明梁升一李世华杨俊
Owner SOUTHEAST UNIV
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