Omnidirectional mobile robot trajectory tracking control method based on selective disturbance compensation

A technology of disturbance compensation and omnidirectional movement, which is applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., can solve the problems of system stability and harmfulness, reduce the control accuracy of the control system, and speed up the energy dissipation of the system, so as to avoid compensation and achieve high performance. Trajectory tracking control, guaranteed stability and robustness

Active Publication Date: 2020-12-01
TIANJIN UNIV
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Problems solved by technology

However, in the classic active disturbance rejection control method, various disturbances to the system are directly compensated as unfavorable factors affecting system stability.
However, by analyzing the energy dissipation of the robot control system, it is found that in the actual control process, all kinds of disturbances encountered by the system are not harmful to the stability of the system, and some disturbances can speed up the energy dissipation of th

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  • Omnidirectional mobile robot trajectory tracking control method based on selective disturbance compensation
  • Omnidirectional mobile robot trajectory tracking control method based on selective disturbance compensation
  • Omnidirectional mobile robot trajectory tracking control method based on selective disturbance compensation

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Embodiment Construction

[0040] In order to make the purpose, technical solution and advantages of the present invention clearer, the implementation manners of the present invention will be further described in detail below.

[0041] Step 1: Establish a dynamic model of the omnidirectional mobile robot system

[0042] Define the world coordinate system {W} and the mobile coordinate system {M}, and use an unknown vector to represent the total disturbance of the system, including the unmodeled part, the uncertainty of parameters and external disturbances, etc., so as to obtain the omnidirectional Mobile robot dynamics model:

[0043]

[0044] In the formula, q=[x y θ] T Indicates the pose of the robot in the world coordinate system; is the time derivative of the pose q, which represents the plane velocity and angular velocity of the robot in the world coordinate system; is the second derivative of pose q with respect to time, which represents the plane acceleration and angular acceleration of th...

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Abstract

The invention discloses an omnidirectional mobile robot trajectory tracking control method based on selective disturbance compensation. The omnidirectional mobile robot trajectory tracking control method comprises the following steps that an omnidirectional mobile robot system kinetic model is established; an extended state observer is designed based on the omnidirectional mobile robot kinetic model; and a selective disturbance compensation controller is designed by utilizing the total disturbance estimated by the extended state observer. According to the omnidirectional mobile robot trajectory tracking control method based on the selective disturbance compensation, the selective disturbance compensation scheme is designed, and classic full-disturbance-compensation active disturbance rejection control is improved, so that a control system distinguishes disturbance types in real time; and meanwhile, favorable disturbance is fully utilized to compensate adverse disturbance, and under thecondition that the system has various types of disturbance, high-performance trajectory tracking control over the omnidirectional mobile robot is achieved through the selective disturbance compensation.

Description

technical field [0001] The invention relates to the field of trajectory tracking control, in particular to an omnidirectional mobile robot trajectory tracking control method based on selective disturbance compensation. Background technique [0002] Due to its high mobility and flexibility, omnidirectional mobile robots are more and more widely used in some narrow working environments. Since the omnidirectional mobile robot system is a very complex nonlinear and strongly coupled system, it is difficult to establish an accurate mathematical model. In addition, there will be various environmental disturbances and internal disturbances during the operation of the robot. Therefore, in the complex How to achieve robust and high-precision trajectory tracking under working conditions has become a challenging and hot issue in the field of robotics research. [0003] In order to solve the problem of complex uncertainties in omnidirectional mobile robots, that is, various disturbances...

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1664
Inventor 任超丁雨彤马书根
Owner TIANJIN UNIV
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