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A mobile robot variable batch length iterative learning optimization control method

A mobile robot and iterative learning technology, which is applied in the field of variable batch length iterative learning optimization control of mobile robots, can solve the problems that the convergence speed and monotonicity cannot be well guaranteed, and achieve the effect of improving tracking performance and ensuring convergence

Active Publication Date: 2021-11-16
深圳市正运动技术有限公司
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Problems solved by technology

However, when the conventional ILC method deals with the problem of batch length variation, its convergence speed and monotonicity cannot be well guaranteed due to the randomness of the batch length.

Method used

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  • A mobile robot variable batch length iterative learning optimization control method
  • A mobile robot variable batch length iterative learning optimization control method
  • A mobile robot variable batch length iterative learning optimization control method

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Embodiment Construction

[0177] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0178] combine Figure 1-Figure 9 shown, please refer to figure 1 , which shows a block diagram of a control system model of a dual-rear-wheel independently driven rigid mobile robot disclosed in the present application. The controller input for batch k is u k , acting on the two independent rear wheel drive motors of the mobile robot can get the actual output y of the kth batch of the system k , which is compared with the set expected value stored in the expected trajectory memory, and the result is passed to the tracking error corrector to obtain the corrected tracking error e k . The corrected tracking error accuracy is compared with the set accuracy value, if the error accuracy does not reach the set accuracy, the corrected error e k with current controller input u k Pass to the optimized iterative learning controller to generate t...

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Abstract

The invention discloses a mobile robot variable batch length iterative learning optimization control method, which relates to the field of mobile robot optimization control; the method converts the repeatedly running mobile robot system into a time-sequence input-output matrix model based on the lifting technology, and through random The variable batch length problem is established as a random change model of batch length; in view of the change of batch length in the system, an iterative learning optimization control algorithm is designed with an optimized idea, and the iterative learning algorithm under the change of batch length is obtained based on the performance index function. The feed-forward form of the optimal control algorithm; based on the successive projection framework, the convergence of the designed iterative learning optimal control algorithm in the sense of mathematical expectation with and without input constraints is proved. This method solves the problem of tracking control of mobile robot systems with variable batch lengths, while considering the input constraints, so as to achieve high-precision tracking of desired trajectories.

Description

technical field [0001] The invention relates to the field of optimization control of mobile robots, in particular to a variable batch length iterative learning optimization control method for mobile robots. Background technique [0002] Mobile robots can complete some heavy, dangerous and repetitive tasks by moving, such as mine detection, seabed detection, unmanned driving, etc., and have practical value in many fields such as industry, medical treatment, and national defense. There are many types of mobile robots, the most common of which are those that move on wheels on the ground. [0003] When mobile robots perform repetitive process tasks, they are limited by certain output constraints or obstacles appear on the running trajectory, and the duration of different batches may vary. For example, when the pose angle of the mobile robot is constrained to run within a certain output range, when the rotation angle of the mobile robot exceeds the limit range, the mobile robot ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/163B25J9/1607
Inventor 陶洪峰庄志和黄彦德官上雷胡计昶陶新悦
Owner 深圳市正运动技术有限公司
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