CN116382077B - Design method of non-complete constraint wheel type robot fixed time controller - Google Patents
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Abstract
The invention discloses a design method of a fixed time controller of an incomplete constraint wheel type robot, which belongs to the technical field of incomplete constraint wheel type robot control and comprises the steps of establishing a nonlinear model of a motion system of the incomplete constraint wheel type robot according to the kinematics and dynamics principles of the incomplete constraint wheel type robot; determining a control target of incomplete constraint wheel type robot track tracking according to the actual working condition; designing a fixed time controller by combining a nonlinear model of a robot motion system and a control target of track tracking; design parameters are determined by reasonably selecting Lyapunov functions, and stability and effectiveness of the system are proved. According to the nonlinear model of the system, the position, angle and speed limitation in the track tracking process are considered, the track tracking controller is designed, the rapid and accurate control of the incomplete constraint wheel type robot with disturbance and uncertain items is realized, and the stability and the rapidity of the incomplete constraint wheel type robot tracking process are ensured.
Description
Technical Field
The invention relates to the technical field of incomplete constraint wheel type robot control, in particular to a design method of a fixed time controller of an incomplete constraint wheel type robot.
Background
The incomplete constraint wheel type mobile robot is a typical incomplete system because of the incomplete constraint, a tracking control method comprising the complete constraint system cannot be directly applied, and moreover, the working environment of the wheel type mobile robot is usually full of complexity and unknowns, and working conditions change at all times. If the problem of motion control of the robot cannot be well solved, the robot cannot quickly and accurately complete the given task and even is damaged. Therefore, how to realize the rapid and accurate tracking control of the incomplete constraint wheel type mobile robot becomes the key point and the difficulty of the technical attack. In the past, tracking control is realized mainly by adopting control methods such as PID (proportion integration differentiation), active disturbance rejection and the like, and only gradual convergence of errors, slow convergence speed and poor disturbance rejection capability can be realized.
With the development of control technology, from the viewpoint of nonlinear control, a tracking controller with reasonable design is focused on. The motion system of the incomplete constraint wheel type mobile robot has the characteristics of incomplete constraint and high nonlinearity, and meanwhile, the problem of controlling the nonlinear system with disturbance can be solved by adopting a fixed time control method in the face of the influence of external disturbance from a complex environment and measurement noise; in addition, in order to ensure the dynamic effect of the motion of the incomplete constraint wheel type mobile robot system, a preset performance control method is adopted to ensure the temporary steady-state effect. In addition, the motion system of the incomplete constraint wheel type mobile robot has the problems of unknown parameters, unknown items and the like.
Therefore, the research on how to design the control method to ensure that the incomplete constraint wheel type mobile robot tracks the target track quickly and accurately has strong practical significance.
Disclosure of Invention
The invention aims to solve the technical problem of providing a design method of a non-complete constraint wheel type robot fixed time controller, which establishes a non-linear model more in line with actual working conditions by considering the limitation of preset performance on tracking deviation, realizes the rapid and accurate control of the non-complete constraint wheel type robot with disturbance and uncertainty items, and ensures the stability of the tracking process of the non-complete constraint wheel type robot.
In order to solve the technical problems, the invention adopts the following technical scheme:
a design method of a non-complete constraint wheel type robot fixed time controller comprises the following steps:
step 1, collecting partial related parameters of a motion system of a non-complete constraint wheel type robot;
step 2, establishing a nonlinear model of a motion system of the incomplete constraint wheeled robot according to the kinematics and dynamics principles of the incomplete constraint wheeled robot;
step 3, determining a control target of incomplete constraint wheel type robot track tracking according to the actual working condition;
determining a track tracking control target: when T is equal to T, the following robot completely tracks the preset track of the upper target robot, and the following formula is shown as follows:
wherein L is ijd Sum phi ijd Respectively representing a desired distance and a desired relative direction angle, L ij Sum phi ij Respectively representing an actual distance and an actual relative direction angle, and T represents a selected stabilization time;
step 4, designing a fixed time controller by combining a nonlinear model of a non-complete constraint wheel type robot motion system and a control target of track tracking;
and 5, determining design parameters by reasonably selecting the Lyapunov function, and proving the stability of the system.
The technical scheme of the invention is further improved as follows: in step 2, the nonlinear model of the incomplete constraint wheel type robot motion system comprises:
2.1, kinematic model is expressed as:
wherein,W j ＝[v j ω j ] T representing the speed of the following robot, v i And omega i Respectively representing the linear velocity and the angular velocity of the movement of the target robot, r j ＝ψ ij +θ j -θ i ，θ i And theta j Representing the direction angles of the target robot and the following robot, L ij Sum phi ij Respectively representing the relative distance and relative direction angle between the target robot and the following robot, +.>And->Respectively represent L ij Sum phi ij D represents the distance between the front of the following robot and the center of the two wheels of the target robot;
2.2, the kinetic model is expressed as:
wherein,h represents the total uncertainty term, +.>Representing the inertial matrix of the system,/->Representing the friction matrix, τ d Represented as a disturbance matrix τ j Representing input moment vector, ">Represents W j Derivative of>W j ＝[v j ω j ] T ，τ j ＝[τ jR τ jL ] T M and I respectively represent the mass and moment of inertia of the robot body, R represents half the distance between the two driving wheels, R represents the radius of the robot wheel, τ jR And τ jL Representing the driving moments of the left and right wheels, respectively.
The technical scheme of the invention is further improved as follows: the step 3 specifically comprises the following steps:
3.1, setting tracking errors of positions and speeds as control targets according to the track tracking process of the robot motion system, wherein the tracking errors are represented by the following formula:
e j ＝[e j1 e j2 ] T ＝[L ijd -L ij ψ ijd -ψ ij ] T
e jc ＝[e jc1 e jc2 ] T ＝[v jc -v j ω jc -ω j ] T ＝W jc -W j
wherein e j And e jc Respectively representing a position error vector and a velocity error vector, W jc ＝[v jc ω jc ] T To a desired speed, W j ＝[v j ω j ] T Representing actual operating speed, v jc And omega jc Respectively representing a desired linear velocity and a desired angular velocity, v j And omega j Respectively representing an actual linear velocity and an actual angular velocity;
3.2, controlling the attenuation rate and the maximum allowable error of the position error and the speed error of the robot within a set range, and expressing a track tracking target as:
-δ jk p jk (t)<e jk (t)<δ jk p jk (t)
-δ jck p jck (t)<e jck (t)<δ jck p jck (t)
wherein,p jk0 、p jk∞ 、p jck0 、p jck∞ 、μ 1 、μ 2 、δ jk and delta jck Are all selected normal numbers, and k is [1,2 ]]；
3.3, selecting an error conversion function as follows:
wherein,ε jk and epsilon jck Respectively representing a position error transfer function and a velocity error transfer function, k E [1,2 ]]；
Finally, ε is guaranteed by designing the controller jk And epsilon jck Bounded convergence, realize e jk And e jck Is converged.
The technical scheme of the invention is further improved as follows: in the step 4, the mobile robot system model is divided into two parts according to the kinematic model and the dynamic model, and the controller design is respectively carried out, so that the stable and rapid control of the robot is realized; the method specifically comprises the following steps:
4.1, designing an outer ring controller according to a kinematic model:
4.1.1, designing a sliding mode surface vector as follows:
wherein ε j ＝[ε j1 ε j2 ] T Representing a position error conversion vector, alpha 1 >0，β 1 >0，m 1 、n 1 、p 1 And q 1 Are all positive integers, and m 1 >n 1 ，p 1 >q 1 ；
4.1.2, designing a speed controller to be:
wherein, m 2 、n 2 、p 2 and q 2 Are all positive integers, and m 2 >n 2 ,p 2 >q 2 ；
4.2, designing an inner loop controller according to the control input of the outer loop controller and the dynamics model:
4.2.1, designing a sliding mode surface vector as follows:
wherein ε jc ＝[ε jc1 ε jc2 ] T Representing a velocity error transition vector, alpha 3 >0，β 3 >0，m 3 、n 3 、p 3 And q 3 Are all positive integers, and m 3 >n 3 ，p 3 >q 3 ；
4.2.2, designing a moment controller to be:
wherein,ε jc ＝[ε jc1 ε jc2 ] T ，sgn(s jc )＝[sgn(s jc1 ) sgn(s jc2 )] T ，/> sgn represents a sign function，η 0 For positive real number, m 4 >n 4 ，p 4 >q 4 。
By adopting the technical scheme, the invention has the following technical progress:
1. the invention considers the kinematics and dynamics model of the incomplete constraint wheeled robot, considers the uncertainty of the model and the influence of external disturbance, designs the track tracking controller, realizes the rapid and accurate tracking of the track of the target robot, and ensures the rapid and stable track tracking.
2. Aiming at the problem of rapid and stable control of the incomplete constraint wheel type robot, the invention considers the limitation of the preset performance on the error in the moving process of the robot, designs the fixed time controller, improves the error attenuation performance, such as the position error attenuation speed, the maximum allowable position error, the steady state error and the like, and is improved compared with the traditional control method.
3. The controller designed by the invention has the characteristics of quick response, easy realization and strong anti-interference performance.
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For a clearer description of embodiments of the invention or of the solutions of the prior art, the drawings that are used in the description of the embodiments or of the prior art will be briefly described, it being obvious that the drawings in the description below are some embodiments of the invention, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art;
FIG. 1 is a flow chart of a design method provided in an embodiment of the present invention;
FIG. 2 is a schematic diagram of a target-following robotic system in an embodiment of the invention;
wherein,v i and omega i Respectively representing the linear velocity and the angular velocity of the movement of the target robot, v j And omega j Respectively representing the linear velocity and the angular velocity of the following robot movement，(x i ,y i ,θ i ) And (x) j ,y j ,θ j ) Representing the position coordinates and direction angles of the target robot and the following robot in a Cartesian coordinate system, respectively, MR i Representing a target robot, MR j Representing a following robot;
FIG. 3 is a block diagram of a control system in an embodiment of the invention;
wherein q j A position vector representing the robot is represented,a speed vector representing the robot;
FIG. 4 is a graph comparing trace traces of predetermined performance versus performance in an embodiment of the invention;
FIG. 5 is a graph comparing trace tracking error curves with predetermined performance traces in an embodiment of the invention.
Detailed Description
It is noted that the terms "comprises" and "comprising," and any variations thereof, in the description and claims of the present invention and in the foregoing figures, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus.
The invention is described in further detail below with reference to the attached drawings and examples:
as shown in fig. 1, the embodiment of the invention provides a design method of a non-complete constraint wheel type robot fixed time controller, which comprises the following steps:
step 1, collecting partial related parameters of a motion system of a non-complete constraint wheel type robot, as shown in a table 1;
TABLE 1 partial parameters for incomplete restraint wheeled mobile robot systems
And 2, establishing a nonlinear model of the motion system of the incomplete constraint wheel type robot according to a kinematics principle and a Lagrange dynamics method.
2.1, as shown in fig. 2, the object-following robot system builds a kinematic model according to the kinematic principle:
wherein,W j ＝[v j ω j ] T representing the speed of the following robot, v i And omega i Respectively representing the linear velocity and the angular velocity of the movement of the target robot, r j ＝ψ ij +θ j -θ i ，θ i And theta j Representing the direction angles of the target robot and the following robot, L ij Sum phi ij Respectively representing the relative distance and relative direction angle between the target robot and the following robot, +.>And->Respectively represent L ij Sum phi ij Is a derivative of (a).
2.2, establishing a dynamics model according to a Lagrange dynamics method as follows:
wherein,h represents the total uncertainty term, +.>Representing the inertial matrix of the system, τ j Representing input moment vector, ">Represents W j Derivative of>Representing the friction matrix, τ d Representing a disturbance matrix, and->And τ d All are bounded vectors, and have H less than or equal to eta. W (W) j ＝[v j ω j ] T ，τ j ＝[τ jR τ jL ] T ，τ jR And τ jL Representing the driving moments of the left and right wheels, respectively. In this example +.> η＝2。
Step 3, determining a track tracking control target: when T is equal to T, the following robot completely tracks the preset track of the upper target robot, and the following formula is shown as follows:
wherein L is ijd Sum phi ijd Respectively representing a desired distance and a desired relative direction angle, L ij Sum phi ij Representing the actual distance and the actual relative direction angle, respectively, T representing the selected settling time. In this example, select L ijd ＝1，ψ ijd ＝120°。
3.1, setting the position error and the speed error as control targets according to the track tracking process of the incomplete constraint wheel type robot motion system, wherein the control targets are as follows:
e j ＝[e j1 e j2 ] T ＝[1-L ij 120°-ψ ij ] T
e jc ＝[e jc1 e jc2 ] T ＝[v jc -v j ω jc -ω j ] T ＝W jc -W j
wherein, e j And e jc Respectively representing a position error vector and a velocity error vector, W jc ＝[v jc ω jc ] T Indicating the desired speed, W j ＝[v j ω j ] T Representing actual operating speed, v jc And omega jc Respectively representing a desired linear velocity and a desired angular velocity, v j And omega j The actual linear velocity and the actual angular velocity are represented, respectively.
3.2, controlling the attenuation rate and the maximum allowable error of the position error and the speed error of the wheeled mobile robot within a set range, wherein the track tracking control target is expressed as:
-p jk (t)<e jk (t)<p jk (t)
-p jck (t)<e jck (t)<p jck (t)
wherein p is jk (t)＝5e -2t +0.01，p jck (t)＝15e -t +0.01，k∈[1,2]。
3.3, selecting an error conversion function as;
wherein,k∈[1,2]。
finally, ε is guaranteed by designing the controller jk And epsilon jck Fixed time bounded convergence, realize e jk And e jck Is converged.
Step 4, as shown in fig. 3, dividing the mobile robot system model into two parts according to the kinematic model and the dynamic model for controller design, and respectively carrying out controller design to realize stable and rapid control of the robot;
4.1, designing an outer ring controller according to a kinematic model;
4.1.1, designing a sliding mode surface vector as follows:
wherein ε j ＝[ε j1 ε j2 ] T Representing the position error translation vector.
4.1.2, designing a speed controller to be:
wherein,
4.2, designing an inner ring controller according to the control input of the outer ring controller and the dynamics model;
4.2.1, designing a sliding mode surface vector as follows:
wherein ε jc ＝[ε jc1 ε jc2 ] T Representing the velocity error transition vector.
4.2.2, designing a moment controller to be:
wherein,sgn(s jc )＝[sgn(s jc1 ) sgn(s jc2 )] T ，/>ε jc ＝[ε jc1 ε jc2 ] T ，sgn represents a sign function, η 0 Is a positive real number designed and should ensure η 0 ≥η。
And 5, determining the parameters of the controller by reasonably selecting the Lyapunov function, proving the rationality and effectiveness of the design of the controller, and ensuring the stability of the system in a fixed time within a preset performance range.
5.1, four lyapunov functions are involved, which can be respectively selected as:
5.2, deriving the selected Lyapunov function, bringing the selected Lyapunov function into corresponding controllers and parameters, and selecting eta 0 Not less than eta, finally can obtainAnd->In this example take eta 0 =2, system fixed time stabilization can be achieved.
After the designed incomplete constraint wheel type robot track tracking controller is applied, as shown in fig. 4 and 5, track tracking curves and effect graphs of track tracking error curves with preset performances are respectively given, and as can be seen from the graphs, the error attenuation rate, steady-state error and overshoot of the track tracking after the controller is used are obviously improved. The invention has the advantages of good track tracking control effect on the incomplete constraint wheel type robot.
The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the present invention.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the 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 scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (2)
1. A design method of a non-complete constraint wheel type robot fixed time controller is characterized by comprising the following steps of:
the method comprises the following steps:
step 1, collecting partial related parameters of a motion system of a non-complete constraint wheel type robot;
the partial relevant parameters of the incomplete constraint wheel type mobile robot system include: m/(kg), number 4; r/(m), the numerical value is 0.03; r/(m) is 0.153; d/(m) is 0.25; i/(kg.m) 2 ) The numerical value is 0.35;
step 2, establishing a nonlinear model of a motion system of the incomplete constraint wheeled robot according to the kinematics and dynamics principles of the incomplete constraint wheeled robot;
the nonlinear model of the non-complete constrained wheeled robot motion system comprises:
2.1, kinematic model is expressed as:
wherein,
W j ＝[v j ω j ] T representing the speed of the following robot, v i And omega i Respectively representing the linear velocity and the angular velocity of the movement of the target robot, r j ＝ψ ij +θ j -θ i ，θ i And theta j Representing the direction angles of the target robot and the following robot, L ij Sum phi ij Representing the relative distance and relative direction angle between the target robot and the following robot respectively,and->Respectively represent L ij Sum phi ij D represents the distance between the front of the following robot and the center of the two wheels of the target robot;
2.2, the kinetic model is expressed as:
wherein,h represents the total uncertainty term, +.>Representing the inertial matrix of the system,/->Representing the friction matrix, τ d Represented as a disturbance matrix τ j Representing input moment vector, ">Represents W j Is used for the purpose of determining the derivative of (c),W j ＝[v j ω j ] T ，τ j ＝[τ jR τ jL ] T m and I respectively represent the mass and moment of inertia of the robot body, R represents half the distance between the two driving wheels, R represents the radius of the robot wheel, τ jR And τ jL Respectively representing the driving moment of the left wheel and the right wheel;
step 3, determining a control target of incomplete constraint wheel type robot track tracking according to the actual working condition;
determining a track tracking control target: when T is equal to T, the following robot completely tracks the preset track of the upper target robot, and the following formula is shown as follows:
wherein L is ijd Sum phi ijd Respectively representing a desired distance and a desired relative direction angle, L ij Sum phi ij Respectively representing an actual distance and an actual relative direction angle, and T represents a selected stabilization time;
step 4, designing a fixed time controller by combining a nonlinear model of a non-complete constraint wheel type robot motion system and a control target of track tracking;
dividing a mobile robot system model into two parts according to a kinematic model and a dynamic model, respectively designing controllers, and further realizing stable and rapid control of the robot; the method specifically comprises the following steps:
4.1, designing an outer ring controller according to a kinematic model:
4.1.1, designing a sliding mode surface vector as follows:
wherein ε j ＝[ε j1 ε j2 ] T Representing a position error conversion vector, alpha 1 >0，β 1 >0，m 1 、n 1 、p 1 And q 1 Are all positive integers, and m 1 >n 1 ，p 1 >q 1 ；
4.1.2, designing a speed controller to be:
wherein, m 2 、n 2 、p 2 and q 2 Are all positive integers, and m 2 >n 2 ，p 2 >q 2 ；
4.2, designing an inner loop controller according to the control input of the outer loop controller and the dynamics model:
4.2.1, designing a sliding mode surface vector as follows:
wherein ε jc ＝[ε jc1 ε jc2 ] T Representing a velocity error transition vector, alpha 3 >0，β 3 >0，m 3 、n 3 、p 3 And q 3 Are all positive integers, and m 3 >n 3 ，p 3 >q 3 ；
4.2.2, designing a moment controller to be:
wherein,ε jc ＝[ε jc1 ε jc2 ] T ，sgn(s jc )＝[sgn(s jc1 ) sgn(s jc2 )] T ，/> sgn represents a sign function, η 0 For positive real number, m 4 >n 4 ，p 4 >q 4 ；
And 5, determining design parameters by reasonably selecting the Lyapunov function, and proving the stability of the system.
2. The method for designing a non-complete-restraint-wheel-type robot fixed time controller according to claim 1, wherein: the step 3 specifically comprises the following steps:
3.1, setting tracking errors of positions and speeds as control targets according to the track tracking process of the robot motion system, wherein the tracking errors are represented by the following formula:
e j ＝[e j1 e j2 ] T ＝[L ijd -L ij ψ ijd -ψ ij ] T
e jc ＝[e jc1 e jc2 ] T ＝[v jc -v j ω jc -ω j ] T ＝W jc -W j
wherein e j And e jc Respectively representing a position error vector and a velocity error vector, W jc ＝[v jc ω jc ] T To a desired speed, W j ＝[v j ω j ] T Representing actual operating speed, v jc And omega jc Respectively representing a desired linear velocity and a desired angular velocity, v j And omega j Respectively representing an actual linear velocity and an actual angular velocity;
3.2, controlling the attenuation rate and the maximum allowable error of the position error and the speed error of the robot within a set range, and expressing a track tracking target as:
-δ jk p jk (t)<e jk (t)<δ jk p jk (t)
-δ jck p jck (t)<e jck (t)<δ jck p jck (t)
wherein,k∈[1,2]，p jk0 、p jk∞ 、p jck0 、p jck∞ 、μ 1 、μ 2 、δ jk and delta jck Are all selected positive constants;
3.3, selecting an error conversion function as follows:
wherein,ε jk and epsilon jck Respectively representing a position error transfer function and a velocity error transfer function, k E [1,2 ]]；
Finally, ε is guaranteed by designing the controller jk And epsilon jck Bounded convergence, realize e jk And e jck Is converged.
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