CN110865641A - Track tracking method of wheeled mobile robot controlled by inversion sliding mode - Google Patents

Track tracking method of wheeled mobile robot controlled by inversion sliding mode Download PDF

Info

Publication number
CN110865641A
CN110865641A CN201911043100.1A CN201911043100A CN110865641A CN 110865641 A CN110865641 A CN 110865641A CN 201911043100 A CN201911043100 A CN 201911043100A CN 110865641 A CN110865641 A CN 110865641A
Authority
CN
China
Prior art keywords
mobile robot
angular velocity
robot model
equation
function
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201911043100.1A
Other languages
Chinese (zh)
Other versions
CN110865641B (en
Inventor
邓小飞
陈善荣
颜瑞
宁洪斌
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jishou University
Original Assignee
Jishou University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jishou University filed Critical Jishou University
Priority to CN201911043100.1A priority Critical patent/CN110865641B/en
Publication of CN110865641A publication Critical patent/CN110865641A/en
Application granted granted Critical
Publication of CN110865641B publication Critical patent/CN110865641B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle

Abstract

The invention provides a track tracking method of a wheeled mobile robot controlled by an inversion sliding mode, which comprises the steps of firstly modeling the wheeled mobile robot, then establishing a kinematic equation according to the model, establishing a pose error equation after obtaining a target track equation, simultaneously providing a constraint condition meeting bounded input, designing an inversion sliding mode controller of the wheeled mobile robot by utilizing the constraint condition, finally carrying out stability analysis aiming at the designed controller, and obtaining the control precision of the controller after carrying out bounded constraint on the input of the controller, thereby achieving the purpose of accurately tracking the track of the wheeled mobile robot.

Description

Track tracking method of wheeled mobile robot controlled by inversion sliding mode
Technical Field
The invention relates to the technical field of track tracking control of wheeled mobile robots, in particular to a track tracking method of a wheeled mobile robot controlled by an inversion sliding mode.
Background
The birth of the robot is a great progress of scientific technology in the 20 th century, particularly in recent years, the robot technology is developed rapidly, is continuously developed towards intellectualization and diversification, and is successfully applied to the fields of military, ocean exploration, hospitals, industry, families and the like. The mobile robot integrates sensor technology, mechanical technology and computer technology, and is an important branch in robot research.
The path tracking precision of the mobile robot affects the performance of the whole system, and because the mobile robot is a highly complex nonlinear system, the mobile robot is very difficult to obtain a high-precision tracking result of the mobile robot, and the problem of the path tracking precision is more and more concerned.
Therefore, a tracking algorithm with high precision is designed, and the method has obvious significance for system improvement of the mobile robot in practical application.
Disclosure of Invention
Based on the above, the invention aims to provide a track tracking method of a wheel type mobile robot controlled by an inverse sliding mode, which improves the control precision of a path tracking system of the whole mobile robot by performing bounded control on the input of a controller.
In order to achieve the above object, the present invention provides a trajectory tracking method for a wheel-type mobile robot controlled by an inverse sliding mode, which specifically includes the following steps:
step 1, establishing a wheeled mobile robot model and obtaining a kinematics equation and a target trajectory equation of the wheeled mobile robot model;
the independent double-rear-wheel differential drive mobile robot controls the speed and the direction of the robot through different speeds of two rear wheels, and a right-angle coordinate is established in a working plane of the mobile robot to obtain a mobile robot model;
obtaining a kinematic model equation (1) and a target track equation (2) of the robot according to the mobile robot model:
Figure BDA0002253403000000021
Figure BDA0002253403000000022
wherein the content of the first and second substances,
Figure BDA0002253403000000023
and
Figure BDA0002253403000000024
is the position of the mobile robot model in the x and y axes of the rectangular coordinate system,
Figure BDA0002253403000000025
is the angular velocity of movement of the mobile robot model,
Figure BDA0002253403000000026
and
Figure BDA0002253403000000027
is the target position of the mobile robot model in the x and y axes of the rectangular coordinate system,
Figure BDA0002253403000000028
is the moving target angular velocity of the mobile robot model, v and omega are the moving linear velocity and angular velocity of the mobile robot model respectively, theta is the included angle between the mobile robot model and the x axis, omega is the angular velocity of the mobile robot modeldIs the moving target angular velocity, theta, of the mobile robot modeldIs the target included angle between the mobile robot model and the x axis;
step 2, establishing a pose error equation of the wheeled mobile robot;
obtaining a pose error equation (3) of the mobile robot by combining a coordinate basic transformation formula and the mobile robot model:
Figure BDA0002253403000000029
wherein the content of the first and second substances,
Figure BDA00022534030000000210
is the pose error of the x-axis of the mobile robot model,
Figure BDA00022534030000000211
is the pose error of the y-axis of the mobile robot model,
Figure BDA00022534030000000212
is the angular velocity pose error of the mobile robot model;
step 3, providing constraint conditions meeting bounded input;
setting the path to be traced as
Figure BDA00022534030000000213
If the robot is able to converge and follow constraints, then it can track:
Figure BDA00022534030000000214
wherein V and ω are linear and angular velocities of the control input, VminIs the minimum value of the set linear velocity, VmaxIs set to the maximum linear velocity, WmaxIs the maximum value for the set angular velocity;
according to the kinematic model equation (1) of the mobile robot, if
Figure BDA00022534030000000215
Trackable, then the input of the mobile robot must also satisfy the constraint (4);
for the
Figure BDA00022534030000000216
All have:
Figure BDA0002253403000000031
Figure BDA0002253403000000032
wherein the content of the first and second substances,
Figure BDA0002253403000000033
and
Figure BDA0002253403000000034
first and second derivatives of the x-axis error equation,
Figure BDA0002253403000000035
and
Figure BDA0002253403000000036
first and second derivatives of the y-axis error equation, respectively;
redefining an error equation:
Figure BDA0002253403000000037
wherein a, b, p and q are constants,
Figure BDA0002253403000000038
and
Figure BDA0002253403000000039
error equations for the x and y axes, respectively;
step 4, designing an inversion sliding mode controller of the wheeled mobile robot by using constraint conditions;
the linear velocity inversion sliding mode controller comprises the following design steps:
defining Lyapunov function V1Comprises the following steps:
Figure BDA00022534030000000310
the first derivative of the Lyapunov function can be obtained from the error equation (7)
Figure BDA00022534030000000311
Figure BDA00022534030000000312
Taking a switching surface function, i.e. a sliding surface function s1＝e1，s2＝e2；
Can realize e1,e2→ 0, by designing the virtual control amount β so that the transform m of β1And m2Respectively as follows:
Figure BDA00022534030000000313
in the same way, the virtual control law and the linear speed control are designed as follows:
Figure BDA00022534030000000314
the angular velocity inversion controller is designed by the following steps:
designing angular velocity control quantity to realize theta tracking thetadWhile ensuring theta tracking β, where k is1、k2、k3Is a constant;
defining the Lyapunov function as V2Comprises the following steps:
Figure BDA0002253403000000041
the first derivative of the Lyapunov function
Figure BDA0002253403000000042
Figure BDA0002253403000000043
Taking tangent plane function, i.e. sliding mode plane function s3＝e3The angular velocity control law is designed as follows:
Figure BDA0002253403000000044
where sgn (t) is a sign function, then
Figure BDA0002253403000000045
The system meets the Lyapunov stability theoretical condition;
eliminating angular velocity inversion controller interference, s, using a low pass filter as follows (15)iIs the input of a low pass filter, αiIs a constant greater than:
Figure BDA0002253403000000046
step 5, analyzing the stability of the controller;
after the controller is constructed, whether the controller meets the stability of the system needs to be judged;
the Lyapunov function V is constructed as:
Figure BDA0002253403000000047
the first derivative of the Lyapunov function
Figure BDA0002253403000000048
Comprises the following steps:
Figure BDA0002253403000000049
designing the tangent function such that s1,s2The trend is 0, and the constant velocity approach law is selected as follows:
Figure BDA00022534030000000410
wherein k is1、k2Is a constant number of times, and is,
Figure BDA00022534030000000411
and
Figure BDA00022534030000000412
is a tangent function s1And s2The first derivative of (2) is combined with the formula (18) in formula (17):
Figure BDA00022534030000000413
wherein V is more than or equal to 0 and can be continuous and micro,
Figure BDA00022534030000000414
the Lyapunov stability theory can determine that the system is globally asymptotically stable.
Drawings
FIG. 1 is a diagram of a mobile robot model according to the present invention;
FIG. 2 is a flow chart of a track tracking method of a wheeled mobile robot controlled by an inversion sliding mode according to the invention;
FIG. 3 is a graph comparing tracking effects in two different methods;
FIG. 4 is a graph showing the comparison of tracking effects in x and y directions according to the present invention;
FIG. 5 is a graph of linear and angular velocity control input in accordance with the present invention.
Detailed Description
The present invention will be described more fully hereinafter with reference to the accompanying drawings and examples, in which the technical problems and advantages of the present invention are solved, wherein the described examples are only intended to facilitate the understanding of the present invention, and are not to be construed as limiting in any way.
As shown in fig. 2, the present invention provides a trajectory tracking method for a wheel-type mobile robot controlled by an inverse sliding mode, which specifically includes the following steps:
step 1, establishing a wheeled mobile robot model and obtaining a kinematics equation and a target trajectory equation of the wheeled mobile robot model;
the independent double-rear-wheel differential drive mobile robot controls the speed and the direction of the robot through different speeds of two rear wheels, and a right-angle coordinate is established in a working plane of the mobile robot to obtain a mobile robot model, which is specifically shown in fig. 1;
from the mobile robot model as shown in fig. 1, the kinematic model equation (1) and the target trajectory equation (2) of the robot can be derived:
Figure BDA0002253403000000051
Figure BDA0002253403000000052
wherein the content of the first and second substances,
Figure BDA0002253403000000053
and
Figure BDA0002253403000000054
is the position of the mobile robot model in the x and y axes of the rectangular coordinate system,
Figure BDA0002253403000000055
is the angular velocity of movement of the mobile robot model,
Figure BDA0002253403000000061
and
Figure BDA0002253403000000062
is the target position of the mobile robot model in the x and y axes of the rectangular coordinate system,
Figure BDA0002253403000000063
is the moving target angular velocity of the mobile robot model, v and omega are the moving linear velocity and angular velocity of the mobile robot model respectively, theta is the included angle between the mobile robot model and the x axis, omega is the angular velocity of the mobile robot modeldIs the moving target angular velocity, theta, of the mobile robot modeldIs the target included angle between the mobile robot model and the x axis;
step 2, establishing a pose error equation of the wheeled mobile robot;
obtaining a pose error equation of the mobile robot by a coordinate basic transformation formula and combining the mobile robot model:
Figure BDA0002253403000000064
wherein the content of the first and second substances,
Figure BDA0002253403000000065
is the pose error of the x-axis of the mobile robot model,
Figure BDA0002253403000000066
is the pose error of the y-axis of the mobile robot model,
Figure BDA0002253403000000067
is the angular velocity pose error of the mobile robot model;
step 3, providing constraint conditions meeting bounded input;
setting the path to be traced as
Figure BDA0002253403000000068
If the robot is able to converge and follow constraints, then it can track:
Figure BDA0002253403000000069
wherein V and ω are linear and angular velocities of the control input, VminIs the minimum value of the set linear velocity, VmaxIs set to the maximum linear velocity, WmaxIs the maximum value for the set angular velocity;
according to the model (1) of the mobile robot, if
Figure BDA00022534030000000610
Trackable, then the input of the mobile robot must also satisfy the constraint (4);
that is to say, pair
Figure BDA00022534030000000611
All have:
Figure BDA00022534030000000612
Figure BDA00022534030000000613
conditions (5) and (6) ensure that the robot tracks under constraint input
Figure BDA00022534030000000614
They are therefore
Figure BDA00022534030000000615
As a prerequisite for trackable trajectories;
wherein the content of the first and second substances,
Figure BDA00022534030000000616
and
Figure BDA00022534030000000617
first and second derivatives of the x-axis error equation,
Figure BDA00022534030000000618
and
Figure BDA00022534030000000619
first and second derivatives of the y-axis error equation, respectively;
redefining an error equation:
Figure BDA0002253403000000071
wherein a, b, p and q are constants,
Figure BDA0002253403000000072
and
Figure BDA0002253403000000073
error equations for the x and y axes, respectively;
step 4, designing an inversion sliding mode controller of the wheeled mobile robot by using constraint conditions;
the linear velocity inversion controller is designed by the following steps:
defining Lyapunov function V1Comprises the following steps:
Figure BDA0002253403000000074
the first derivative of the Lyapunov function can be obtained from the formula (7)
Figure BDA0002253403000000075
Figure BDA0002253403000000076
Taking the switching surface function, i.e. the sliding mode surface function as s1＝e1，s2＝e2；
Can realize e1,e2→ 0, by designing the virtual control amount β so that the transform m of β1And m2Respectively as follows:
Figure BDA0002253403000000077
the virtual control law and the linear velocity control law are designed in the same way as follows:
Figure BDA0002253403000000078
the angular velocity inversion controller is designed by the following steps:
designing angular velocity control quantity to realize theta tracking thetadWhile ensuring theta tracking β, where k is1、k2、k3Is a constant;
defining the Lyapunov function as V2Comprises the following steps:
Figure BDA0002253403000000079
the first derivative of the Lyapunov function
Figure BDA00022534030000000710
Figure BDA00022534030000000711
Taking tangent plane function, i.e. sliding mode plane function s3＝e3The angular velocity control law is designed as follows:
Figure BDA0002253403000000081
where sgn (t) is a sign function, then
Figure BDA0002253403000000082
The system meets the Lyapunov stability theoretical condition;
eliminating angular velocity inversion controller interference, s, using a low pass filter as follows (15)iIs the input of a low pass filter, αiIs a constant greater than:
Figure BDA0002253403000000083
step 5, analyzing the stability of the controller;
after the controller is constructed, whether the controller meets the stability of the system needs to be judged, if the controller is unreasonable in design, the system generates an unstable phenomenon in the control process, and the system error is increased, so that the test is failed, and therefore, the stability analysis is very necessary;
the Lyapunov function V is constructed as:
Figure BDA0002253403000000084
the first derivative of the Lyapunov function
Figure BDA0002253403000000085
Comprises the following steps:
Figure BDA0002253403000000086
designing the tangent function such that s1,s2The trend is 0, and the constant velocity approach law is selected as follows:
Figure BDA0002253403000000087
wherein k is1、k2Is a constant number of times, and is,
Figure BDA0002253403000000088
and
Figure BDA0002253403000000089
is a tangent function s1And s2The first derivative of (2) is combined with the formula (18) in formula (17):
Figure BDA00022534030000000810
wherein V is more than or equal to 0 and can be continuous and micro,
Figure BDA00022534030000000811
the Lyapunov stability theory can determine that the system is globally asymptotically stable.
In order to highlight the advantages of the invention by comparison, a track tracking method of the wheel-type mobile robot controlled by an inversion sliding mode without requirements on input is adopted for comparison and analysis:
the inversion controller is designed by the following steps:
defining the Lyapunov function as V1Comprises the following steps:
Figure BDA0002253403000000091
the first derivative of the Lyapunov function can be obtained from the formula (1), the formula (2) and the formula (3)
Figure BDA0002253403000000092
Figure BDA0002253403000000093
Taking a switching surface function, i.e. a sliding surface function s1＝e1，s2＝e2；
By designing the virtual control amount β so that the transform m of β1And m2Respectively as follows:
Figure BDA0002253403000000094
then
Figure BDA0002253403000000095
The system meets the Lyapunov stability theoretical condition;
from equation (1), the virtual control law and linear velocity can be designed as:
Figure BDA0002253403000000096
designing angular velocity control quantity to realize theta tracking thetadWhile ensuring theta tracking β, where k is1、k2、k3Is a constant; defining the Lyapunov function as V2Comprises the following steps:
Figure BDA0002253403000000097
the first derivative of the Lyapunov function
Figure BDA0002253403000000098
Figure BDA00022534030000000911
Taking tangent plane function, i.e. sliding mode plane function s3＝e3The angular velocity control law is designed as follows:
Figure BDA0002253403000000099
where sgn (t) is a sign function, then
Figure BDA00022534030000000910
The system meets the Lyapunov stability theoretical condition; to eliminate interference, the following low-pass filter is used, siIs the input of a low pass filter, αiIs a constant greater than:
Figure BDA0002253403000000101
matlab simulation is carried out on the path tracking of the mobile robot by using the two methods, and the initial pose is [ 0.4-0.20 ]]The desired trajectory is xd＝t，yd＝sin(0.5xd). K is taken when a sliding mode controller based on inversion design is adopted to track a sinusoidal path1＝k2＝0.3，k3Q is 0.5 and 3. When the sinusoidal path is tracked by adopting an improved sliding mode controller based on bounded input, a-b-1.0 and p-q-10 are taken. The simulation results are shown in fig. 3-5.
Fig. 3 is a comparison graph of tracking effect under two different methods. As can be seen from fig. 3, the improved controller based on the bounded input achieves accurate path tracking within 0.2s, while the sliding mode controller based on the inverse design achieves more accurate path tracking after 6.3s before the improvement, so the improved method based on the bounded input has significantly better dynamic performance than the method based on the inverse design.
Fig. 4 is a graph comparing the tracking effect in the x and y directions. In the x direction, the tracking effects of the two methods are not greatly different, but the improvement method based on the bounded input is still better than the method based on the inversion design; in the y-direction, the improvement method is significantly faster based on bounded inputs than the dynamic response based on the inverse design method.
Finally, the method of the present invention is only a preferred embodiment and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. It should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (1)

1. A track tracking method of a wheel type mobile robot controlled by an inversion sliding mode is characterized by comprising the following steps:
step 1, establishing a wheeled mobile robot model and obtaining a kinematics equation and a target trajectory equation of the wheeled mobile robot model;
the independent double-rear-wheel differential drive mobile robot controls the speed and the direction of the robot through different speeds of two rear wheels, and a right-angle coordinate is established in a working plane of the mobile robot to obtain a mobile robot model;
obtaining a kinematic model equation (1) and a target track equation (2) of the robot according to the mobile robot model:
Figure FDA0002253402990000011
Figure FDA0002253402990000012
wherein the content of the first and second substances,
Figure FDA0002253402990000013
and
Figure FDA0002253402990000014
is the position of the mobile robot model in the x and y axes of the rectangular coordinate system,
Figure FDA0002253402990000015
is the angular velocity of movement of the mobile robot model,
Figure FDA0002253402990000016
and
Figure FDA0002253402990000017
is the target position of the mobile robot model in the x and y axes of the rectangular coordinate system,
Figure FDA0002253402990000018
is the moving target angular velocity of the mobile robot model, v and omega are the moving linear velocity and angular velocity of the mobile robot model respectively, theta is the included angle between the mobile robot model and the x axis, omega is the angular velocity of the mobile robot modeldIs the moving target angular velocity, theta, of the mobile robot modeldIs the target included angle between the mobile robot model and the x axis;
step 2, establishing a pose error equation of the wheeled mobile robot;
obtaining a pose error equation (3) of the mobile robot by combining a coordinate basic transformation formula and the mobile robot model:
Figure FDA0002253402990000019
wherein the content of the first and second substances,
Figure FDA00022534029900000110
is the pose error of the x-axis of the mobile robot model,
Figure FDA00022534029900000111
is the pose error of the y-axis of the mobile robot model,
Figure FDA00022534029900000112
is the angular velocity pose error of the mobile robot model;
step 3, providing constraint conditions meeting bounded input;
setting the path to be traced as
Figure FDA0002253402990000021
If the robot is able to converge and follow constraints, then it can track:
Figure FDA0002253402990000022
wherein V and ω are linear and angular velocities of the control input, VminIs the minimum value of the set linear velocity, VmaxIs set to the maximum linear velocity, WmaxIs the maximum value for the set angular velocity;
according to the kinematic model equation (1) of the mobile robot, if
Figure FDA0002253402990000023
Trackable, then the input of the mobile robot must also satisfy the constraint (4);
for the
Figure FDA0002253402990000024
All have:
Figure FDA0002253402990000025
Figure FDA0002253402990000026
wherein the content of the first and second substances,
Figure FDA0002253402990000027
and
Figure FDA0002253402990000028
first and second derivatives of the x-axis error equation,
Figure FDA0002253402990000029
and
Figure FDA00022534029900000210
first and second derivatives of the y-axis error equation, respectively;
redefining an error equation:
Figure FDA00022534029900000211
wherein a, b, p and q are constants,
Figure FDA00022534029900000212
and
Figure FDA00022534029900000213
error equations for the x and y axes, respectively;
step 4, designing an inversion sliding mode controller of the wheeled mobile robot by using constraint conditions;
the linear velocity inversion sliding mode controller comprises the following design steps:
defining Lyapunov function V1Comprises the following steps:
Figure FDA00022534029900000214
the first derivative of the Lyapunov function can be obtained from the error equation (7)
Figure FDA00022534029900000215
Comprises the following steps:
Figure FDA00022534029900000216
taking a switching surface function, i.e. a sliding surface function s1＝e1，s2＝e2；
Can realize e1,e2→ 0, by designing the virtual control amount β so that the transform m of β1And m2Respectively as follows:
Figure FDA00022534029900000217
the virtual control law and the linear velocity control law are designed in the same way as follows:
Figure FDA0002253402990000031
the angular velocity inversion controller is designed by the following steps:
designing angular velocity control quantity to realize theta tracking thetadWhile ensuring theta tracking β, where k is1、k2、k3Is a constant;
defining the Lyapunov function as V2Comprises the following steps:
Figure FDA0002253402990000032
the first derivative of the Lyapunov function
Figure FDA0002253402990000033
Figure FDA0002253402990000034
Taking tangent plane function, i.e. sliding mode plane function s3＝e3The angular velocity control law is designed as follows:
Figure FDA0002253402990000035
where sgn (t) is a sign function, then
Figure FDA0002253402990000036
The system meets the Lyapunov stability theoretical condition;
eliminating angular velocity inversion controller interference, s, using a low pass filter as follows (15)iIs the input of a low pass filter, αiIs a constant greater than:
Figure FDA0002253402990000037
step 5, analyzing the stability of the controller;
after the controller is constructed, whether the controller meets the stability of the system needs to be judged;
the Lyapunov function V is constructed as:
Figure FDA0002253402990000038
the first derivative of the Lyapunov function
Figure FDA0002253402990000039
Comprises the following steps:
Figure FDA00022534029900000310
designing the tangent function such that s1,s2The trend is 0, and the constant velocity approach law is selected as follows:
Figure FDA0002253402990000041
wherein k is1、k2Is a constant number of times, and is,
Figure FDA0002253402990000042
and
Figure FDA0002253402990000043
is a tangent function s1And s2The first derivative of (2) is combined with the formula (18) in formula (17):
Figure FDA0002253402990000044
wherein V is more than or equal to 0 and can be continuous and micro,
Figure FDA0002253402990000045
the Lyapunov stability theory can determine that the system is globally asymptotically stable.
CN201911043100.1A 2019-10-30 2019-10-30 Track tracking method of wheeled mobile robot controlled by inversion sliding mode Active CN110865641B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911043100.1A CN110865641B (en) 2019-10-30 2019-10-30 Track tracking method of wheeled mobile robot controlled by inversion sliding mode

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911043100.1A CN110865641B (en) 2019-10-30 2019-10-30 Track tracking method of wheeled mobile robot controlled by inversion sliding mode

Publications (2)

Publication Number Publication Date
CN110865641A true CN110865641A (en) 2020-03-06
CN110865641B CN110865641B (en) 2022-06-24

Family

ID=69654245

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201911043100.1A Active CN110865641B (en) 2019-10-30 2019-10-30 Track tracking method of wheeled mobile robot controlled by inversion sliding mode

Country Status (1)

Country Link
CN (1) CN110865641B (en)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112083652A (en) * 2020-08-27 2020-12-15 东南大学 Track tracking control method for multipurpose wheeled mobile robot
CN112327620A (en) * 2020-10-29 2021-02-05 广东省智能机器人研究院 Mobile robot robust control method and system considering obstacle avoidance
CN112346344A (en) * 2020-11-19 2021-02-09 天津大学 Trajectory tracking control method for wheeled robot
CN112379590A (en) * 2020-10-16 2021-02-19 西安工程大学 Mobile robot path tracking control method based on improved approach law
CN113108798A (en) * 2021-04-21 2021-07-13 浙江中烟工业有限责任公司 Multi-storage robot indoor map positioning system based on laser radar
CN113189864A (en) * 2021-04-29 2021-07-30 北京哈工时代科技有限公司 Rock climbing robot trajectory tracking reverse control algorithm based on kinematics
CN113805585A (en) * 2021-09-07 2021-12-17 中国地质大学（武汉） Mobile robot tracking control method under complex constraint
CN114019796A (en) * 2021-10-27 2022-02-08 黄山学院 Mobile robot fixed time tracking control method considering input constraint
CN114047752A (en) * 2021-11-01 2022-02-15 浙江工业大学 Mecanum wheel mobile robot track tracking control method based on fuzzy inversion sliding mode

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1901153A1 (en) * 2006-09-12 2008-03-19 OFFIS e.V. Control system for unmanned 4-rotor-helicopter
CN101436073A (en) * 2008-12-03 2009-05-20 江南大学 Wheeled mobile robot trace tracking method based on quantum behavior particle cluster algorithm
CN104049638A (en) * 2014-06-19 2014-09-17 金陵科技学院 Dynamic-actuator aircraft attitude distributed type fault-tolerant control system
CN107168340A (en) * 2017-07-11 2017-09-15 江南大学 A kind of mobile robot trace tracking and controlling method based on sliding moding structure
CN107415939A (en) * 2017-03-17 2017-12-01 江苏大学 A kind of distributed-driving electric automobile steering stability control method
CN108319138A (en) * 2018-01-29 2018-07-24 哈尔滨工程大学 A kind of sliding formwork of drive lacking unmanned boat-contragradience double loop Trajectory Tracking Control method
CN109857100A (en) * 2019-01-09 2019-06-07 合肥工业大学 A kind of complex track tracking control algorithm based on the method for inversion and fast terminal sliding formwork
CN109991856A (en) * 2019-04-25 2019-07-09 南京理工大学 A kind of integrated control method for coordinating of robot driver vehicle
CN110083061A (en) * 2019-04-12 2019-08-02 国网宁夏电力有限公司电力科学研究院 A kind of Control of Wheeled Mobile Robots method

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1901153A1 (en) * 2006-09-12 2008-03-19 OFFIS e.V. Control system for unmanned 4-rotor-helicopter
CN101436073A (en) * 2008-12-03 2009-05-20 江南大学 Wheeled mobile robot trace tracking method based on quantum behavior particle cluster algorithm
CN104049638A (en) * 2014-06-19 2014-09-17 金陵科技学院 Dynamic-actuator aircraft attitude distributed type fault-tolerant control system
CN107415939A (en) * 2017-03-17 2017-12-01 江苏大学 A kind of distributed-driving electric automobile steering stability control method
CN107168340A (en) * 2017-07-11 2017-09-15 江南大学 A kind of mobile robot trace tracking and controlling method based on sliding moding structure
CN108319138A (en) * 2018-01-29 2018-07-24 哈尔滨工程大学 A kind of sliding formwork of drive lacking unmanned boat-contragradience double loop Trajectory Tracking Control method
CN109857100A (en) * 2019-01-09 2019-06-07 合肥工业大学 A kind of complex track tracking control algorithm based on the method for inversion and fast terminal sliding formwork
CN110083061A (en) * 2019-04-12 2019-08-02 国网宁夏电力有限公司电力科学研究院 A kind of Control of Wheeled Mobile Robots method
CN109991856A (en) * 2019-04-25 2019-07-09 南京理工大学 A kind of integrated control method for coordinating of robot driver vehicle

Non-Patent Citations (9)

* Cited by examiner, † Cited by third party
Title
AHMED F. AMER;ELSAYED A. SALLAM;IBRAHIM A. SULTAN: "Adaptive sliding-mode dynamic controller for nonholonomic mobile robots", 《2016 12TH INTERNATIONAL COMPUTER ENGINEERING CONFERENCE (ICENCO)》 *
BO ZHOU；JIANDA HAN；XIANZHONG DAI: "Backstepping Based Global Exponential Stabilization of a Tracked Mobile Robot with Slipping Perturbation", 《JOURNAL OF BIONIC ENGINEERING》 *
H.FANG；RUIXIA FAN；B.THUILOT；P.MARTINET: "Trajectory tracking control of farm vehicles in presence of sliding", 《ROBOTICS AND AUTONOMOUS SYSTEMS》 *
IN SEOKSEO；SEONG IKHAN: "Dual closed-loop sliding mode control for a decoupled three-link wheeled mobile manipulator", 《ISA TRANSACTIONS》 *
宁洪斌；祝俊伟；邓小飞；陈善荣；何亮: "移动机器人滑模路径的跟踪控制", 《吉首大学学报(自然科学版)》 *
崔明月: "复杂环境下不确定轮式移动机器人运动控制的研究", 《中国博士学位论文全文数据库·信息科技辑》 *
汪宇: "非完整移动机器人的反演自适应轨迹跟踪控制研究", 《中国优秀硕士学位论文全文数据库·信息科技辑》 *
沈智鹏；张晓玲: "带扰动补偿的移动机器人轨迹跟踪反演控制", 《控制工程》 *
邢飞: "不确定轮式移动机器人轨迹跟踪控制", 《中国优秀硕士学位论文全文数据库·信息科技辑》 *

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112083652A (en) * 2020-08-27 2020-12-15 东南大学 Track tracking control method for multipurpose wheeled mobile robot
CN112083652B (en) * 2020-08-27 2022-06-14 东南大学 Track tracking control method for multipurpose wheeled mobile robot
CN112379590A (en) * 2020-10-16 2021-02-19 西安工程大学 Mobile robot path tracking control method based on improved approach law
CN112327620A (en) * 2020-10-29 2021-02-05 广东省智能机器人研究院 Mobile robot robust control method and system considering obstacle avoidance
CN112327620B (en) * 2020-10-29 2022-05-17 广东省智能机器人研究院 Mobile robot robust control method and system considering obstacle avoidance
CN112346344A (en) * 2020-11-19 2021-02-09 天津大学 Trajectory tracking control method for wheeled robot
CN113108798A (en) * 2021-04-21 2021-07-13 浙江中烟工业有限责任公司 Multi-storage robot indoor map positioning system based on laser radar
CN113189864A (en) * 2021-04-29 2021-07-30 北京哈工时代科技有限公司 Rock climbing robot trajectory tracking reverse control algorithm based on kinematics
CN113805585A (en) * 2021-09-07 2021-12-17 中国地质大学（武汉） Mobile robot tracking control method under complex constraint
CN114019796A (en) * 2021-10-27 2022-02-08 黄山学院 Mobile robot fixed time tracking control method considering input constraint
CN114019796B (en) * 2021-10-27 2023-03-10 黄山学院 Mobile robot fixed time tracking control method considering input constraint
CN114047752A (en) * 2021-11-01 2022-02-15 浙江工业大学 Mecanum wheel mobile robot track tracking control method based on fuzzy inversion sliding mode

Also Published As

Publication number Publication date
CN110865641B (en) 2022-06-24

Similar Documents

Publication Publication Date Title
CN110865641B (en) Track tracking method of wheeled mobile robot controlled by inversion sliding mode
CN108008720B (en) Fuzzy sliding mode trajectory tracking control and method for wheeled mobile robot
CN106125728B (en) A kind of 4 wheel driven wheeled mobile robot trace tracking and controlling method
Chen et al. New super-twisting zeroing neural-dynamics model for tracking control of parallel robots: A finite-time and robust solution
Wen et al. Elman fuzzy adaptive control for obstacle avoidance of mobile robots using hybrid force/position incorporation
CN109885052A (en) Error model forecast Control Algorithm based on omni-directional mobile robots Kinematic Model
CN110977988B (en) Multi-joint mechanical arm impedance control method based on finite time command filtering
CN109857100B (en) Composite track tracking control algorithm based on inversion method and fast terminal sliding mode
CN109782759B (en) Approximate decoupling and rapid track following control method of wheeled mobile robot
CN105159306A (en) Four-rotor aircraft sliding-mode control method based on global stability
Liu et al. Adaptive control of manipulator based on neural network
CN106950999B (en) mobile stage trajectory tracking control method adopting active disturbance rejection control technology
CN111650929A (en) Self-adaptive sliding mode control method and system and mobile robot controller
CN112578671B (en) AGV track tracking control method based on U model optimization SMC
Inal et al. A 3D dynamic model of a spherical wheeled self-balancing robot
Sun et al. A GNN for repetitive motion generation of four-wheel omnidirectional mobile manipulator with nonconvex bound constraints
Wang et al. Sliding mode control for trajectory tracking of nonholonomic wheeled mobile robots based on neural dynamic model
CN114179089A (en) Robust region tracking control method for mechanical arm
CN114131617A (en) Intelligent compliance control method and device for industrial robot
CN112008728B (en) Omnidirectional mobile robot track tracking control method based on selective disturbance compensation
Cui et al. Adaptive control for simultaneous tracking and stabilization of wheeled mobile robot with uncertainties
Eghtesad et al. Study of the internal dynamics of an autonomous mobile robot
CN109648566B (en) Track tracking control method of omnibearing mobile robot with unknown motor parameters
CN112476429B (en) Robot gait control method
CN112083652A (en) Track tracking control method for multipurpose wheeled mobile robot

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant