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Mobile robot fixed time tracking control method considering input constraint

A mobile robot, tracking control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem of excessive initial control signal, achieve good tracking control performance, and solve the problem of excessive initial control signal. Effect

Active Publication Date: 2022-02-08
HUANGSHAN UNIV
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Problems solved by technology

[0005] The object of the present invention is to make up for the defects of the prior art and provide a fixed-time tracking control method for mobile robots considering input constraints. The present invention adopts the fixed-time control theory design A kinematics controller and a dynamics controller that make the system tracking error converge in a fixed time, and at the same time solve the problem of too large initial control signal in the fixed time control

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  • Mobile robot fixed time tracking control method considering input constraint
  • Mobile robot fixed time tracking control method considering input constraint
  • Mobile robot fixed time tracking control method considering input constraint

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Embodiment Construction

[0108] The invention will be further described below with reference to the accompanying drawings.

[0109] like Figure 1 - Figure 7 A mobile robot fixed time tracking control method considering input constraints, including the following specific technical steps:

[0110] Step 1, establish a mobile robot tracking control system model including the actuator dynamic, the specific process is as follows:

[0111] 1.1 The mobile robot can describe its motion model in the case of meeting non-complete constraints.

[0112]

[0113] Where q = [x, y, θ] T ∈R 3 The position of the mobile robot, where X, Y represent the moving robot in the X axial and Y axial coordinates, θ is the direction of the mobile robot; First order derivative for mobile robotic posture; μ = [v, Ω] T The vector consisting of the line speed and angular velocity of the mobile robot, where V is the line speed, ω is angular velocity.

[0114] 1.2 According to the lagrange modeling method, the kinetic model of the mobil...

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Abstract

The invention discloses a mobile robot fixed time tracking control method considering an input constraint. The method comprises the following specific steps: establishing a mobile robot tracking control system model containing execution mechanism dynamics; designing a mobile robot fixed time tracking kinematics controller based on the system kinematics model; and designing a fixed time tracking dynamics controller based on the mobile robot system dynamics model containing the execution mechanism dynamics. The control method provided by the invention not only has good tracking control performance, but also can ensure that the input constraint meets the requirements of the system execution mechanism, and solves the problem that the initial control signal is too large in fixed time control.

Description

Technical field [0001] The present invention relates to the field of mobile robots, and more particularly to a mobile robot fixed time tracking control method for considering input constraints. Background technique [0002] Multi-functional information collection, dynamic planning, behavioral decision and control, etc. Wide applications have been obtained in the fields of civil use. [0003] High-performance tracking control is a premise of mobile robots to complete these applications, in which the convergence speed of tracking errors is a key technical indicator for implementing high performance tracking control of mobile robots. [0004] The fixed time control can cause the mobile robot system tracking error to be fixed time converge, and its convergence time is independent of the initial value of the system state. However, in order to achieve a fixed time convergence of the system state, the control signal output by the fixed time controller output in the initial phase of the ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 郭一军
Owner HUANGSHAN UNIV