An approach to absolute position control of mobile robot by PSD based robust control

T. Sugawara, T. Murakami
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引用次数: 6

Abstract

The purpose of this research is to realize an absolute position control of mobile robot. Several researches with respect to position control of mobile robot considering its nonholonomic constraints have already reported. They are so powerful, but there are still some issues to improve the control performance. First, the disturbances such as wheel slip, modeling error, and so on deteriorate the position response. So the disturbances suppression should be considered. Second, it is difficult to predetermine the trajectory to reach the desired position because of the nonholonomic constraints. To improve the performance of the position convergence, it is strongly required to develop the trajectory generation algorithm independently of the nonholonomic constraints. In the proposed approach, the absolute position detected by PSD is used to construct the robust position controller. Furthermore, the virtual forces to swing the mobile robot and to modify its orientation are arbitrarily generated to guarantee the convergence to the desired position even if the position response is affected by slip motion or uneven floor. Several numerical and experimental results are shown to verify the validity of the proposed approach.
基于PSD鲁棒控制的移动机器人绝对位置控制方法
本研究的目的是实现移动机器人的绝对位置控制。在考虑非完整约束的移动机器人位置控制方面,已有一些研究报道。它们是如此强大,但仍有一些问题,以提高控制性能。首先,车轮滑移、建模误差等干扰会使位置响应变差。因此应考虑干扰抑制。其次,由于非完整约束,难以预先确定到达期望位置的轨迹。为了提高位置收敛性能,迫切需要开发独立于非完整约束的轨迹生成算法。在该方法中,利用PSD检测到的绝对位置构造鲁棒位置控制器。此外,任意产生用于移动机器人摆动和改变其方向的虚拟力,以保证即使位置响应受到滑移运动或不均匀地板的影响也能收敛到期望位置。数值和实验结果验证了该方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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