Speed constraint tracking control method for service robots suitable for different users

Abstract

The invention discloses a speed constraint tracking control method for service robots suitable for different users. The method comprises the following steps: 1) establishing a stochastic differentialequation for depicting mass changes of different users; 2) constraining the movement speed of a robot in the axial direction and the rotation angle direction; and 3) establishing a tracking error system by using the movement speed constrained in the step 2) and combining the stochastic differential equation in the step 1), and constructing an index stability condition of the tracking error systembased on a stochastic stability theory to realize a speed constraint tracking control method suitable for different users. An adopted controller is simple in design and easy to implement, quality information of a user does not exist in the controller, and therefore the service robot can be applied to different users, and the trajectory tracking precision is improved; meanwhile, the method for constraining the movement speed is provided for a service robot system described by a stochastic differential equation, sudden change of the speed of the robot is avoided, and the safety of a user is guaranteed.

Description

Technical field: [0001] The invention relates to the field of control of service robots, in particular to a control method of wheeled life service robots. Background technique: [0002] Traffic accidents and population aging have increased the number of patients with walking impairments year by year. Due to the lack of professional rehabilitation personnel in my country, patients with walking impairments cannot receive timely and effective exercise training, thus gradually losing their walking function and unable to achieve daily independent living. With the application of service robots in homes, nursing homes and other places, the problem of independent living for patients with walking disabilities has been effectively solved. However, in practical applications, users of different masses will cause the robot to deviate from the indoor trajectory, seriously affecting the tracking accuracy of the robot, and even make the robot collide with surrounding obstacles. In addition...

AI Technical Summary

Problems solved by technology

[0003] In recent years, there have been many research results on the tracking control of service robots, but these results are unable to solve the problem of random quality changes for different users

If the robot cannot adapt to users of different masses, it will not only affect the tracking accuracy, but also the excessive tracking error will cause the robot to collide with surrounding objects, thus threatening the safety of users

At the same time, the service robot dynamic system described by stochastic differential equations cannot directly constrain its motion speed

Therefore, so far there is no tracking control method for different users whose quality varies randomly and whose speed is constrained. This invention studies the method of improving the tracking accuracy of service robots based on a new perspective, which is very important to ensure that patients with different walking disabilities can safely realize daily Independent living is important

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