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Wheeled robot trajectory tracking optimal control method

A wheeled robot and trajectory tracking technology, applied in the direction of non-electric variable control, control/regulation system, two-dimensional position/channel control, etc., can solve the problem of wheeled robots following a given trajectory, and achieve the effect of reducing the burden

Active Publication Date: 2021-11-30
YANSHAN UNIV
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AI Technical Summary

Problems solved by technology

This method obtains the optimal control increment through the given performance index function, and solves the problem that the wheeled robot can still follow a given trajectory when it is disturbed by the outside world and the internal parameters are uncertain.

Method used

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  • Wheeled robot trajectory tracking optimal control method
  • Wheeled robot trajectory tracking optimal control method
  • Wheeled robot trajectory tracking optimal control method

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Embodiment

[0190] In order to verify the effectiveness of the double-closed-loop trajectory tracking control strategy for wheeled robots proposed by the present invention, the numerical simulation results of MATLAB are given as a verification, which shows that the wheeled robot can still be controlled under the condition of external interference and uncertain internal parameters of the system. Drive normally along the virtual trajectory, as follows:

[0191] In this simulation, the virtual reference trajectory in step S1.1 is a circle, the linear velocity of the reference trajectory is 1.4m / s, and the angular velocity is 0.7rad / s.

[0192] Step S2.1, kinematics controller parameter is: k 1 =2.1,k 2 =6.3,k 3 = 3, k 3 =0.5,k 3 =0.7;

[0193] Step S3.1. The mass of the wheeled robot is 10kg, the distance between the differential wheels is 0.2m, the moment of inertia is 5kg.m2, and the applied external disturbance and internal uncertainty are d(t)=[sin 2t cos 2t] T , the system samplin...

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Abstract

The invention provides a wheeled robot trajectory tracking optimal control method. The method comprises the following steps of: establishing kinematic models of an actual wheeled robot and a virtual wheeled robot to obtain trajectory tracking error models of the actual wheeled robot and the virtual wheeled robot; designing sliding mode surfaces of the trajectory tracking error models of the actual wheeled robot and the virtual wheeled robot, and designing a kinematics controller according to an integral sliding mode control theory, so as to make the position error of the wheeled robot asymptotically converge; with external interference and uncertainty of an internal model of the wheeled robot comprehensively considered, establishing a dynamical model of the wheeled robot; designing a fixed-time nonlinear expansion state observer, observing the speed of the wheeled robot and estimating external interference and internal uncertainty, and ensuring that observation errors converge to zero within fixed time; and designing a dynamic controller based on a linear quadratic optimal control theory, so as to make the wheeled robot follow a given reference speed, anda given performance index minimum.

Description

technical field [0001] The present invention relates to an optimal control method for track tracking of a wheeled robot, in particular to an optimal control method for track tracking of a wheeled robot based on a double closed-loop control strategy. The invention belongs to the field of trajectory tracking control of wheeled robots. Background technique [0002] With the rapid development of science and technology, robots are more and more used in industry, family, military and other fields. Among them, wheeled robots are widely used due to their advantages such as simple structure, convenient driving, light weight, large load capacity and high work efficiency. However, in practical applications, wheeled robots have many external and internal disturbances, motion stability is greatly affected by actual road conditions, it is difficult to control complex trajectories, the motor load is limited, and mathematical models are difficult to establish. Here comes the great challeng...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0221G05D1/0276
Inventor 李丽曹维群王天奇
Owner YANSHAN UNIV
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