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

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
View PDF2 Cites 10 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The wheeled mobile robot system is a typical multi-input multi-output, underactuated, non-holonomic nonlinear system, which does not satisfy the Brockett condition, so a steady smooth state feedback controller cannot achieve asymptotic tracking control

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
  • 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

Examples

Experimental program
Comparison scheme
Effect test

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 ...

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 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

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): G05D1/02G05B13/04
CPCG05D1/0212G05B13/042
Inventor 王翔宇刘维明梁升一李世华杨俊
Owner SOUTHEAST UNIV
Features
  • Generate Ideas
  • Intellectual Property
  • Life Sciences
  • Materials
  • Tech Scout
Why Patsnap Eureka
  • Unparalleled Data Quality
  • Higher Quality Content
  • 60% Fewer Hallucinations
Social media
Patsnap Eureka Blog
Learn More

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

© 2025 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com