记笔记

Robust trajectory tracking control of wheeled mobile robots and comparison with existing methods

Kezheng Sun¹Zhihao Xu^1,2Shuai Li³Xiaoxiao Li¹Xuefeng Zhou¹

1. Guangdong Key Laboratory of Modern Control Technology,Institute of Intelligent Manufacturing,Guangdong Academy of Sciences2. Foshan Tri-Co Intelligent Robot Technology Co.,Ltd.3. School of Engineering,Swansea University

摘要：This paper considers robust trajectory tracking problem of a wheeled mobile robot（WMR） disturbed by external noise,from perspective of optimization.Specifically,the kinematic control of an WMR is reduced to a minimization optimization problem which is related to the WMR’s velocity.By minimizing Euclidean norm of the resultant mathematical equation,the overall objective that the WMR moves accurately along the desired trajectory is achieved.To achieve antinoise capability when external noise disturbs,an integrationenhanced error feedback strategy is generalized into this study.Based on the Lagrange multiplier method,a dynamic solver is designed to solve the optimal solution of the objective function.In addition,bound constraints on optimization variables（i.e,WMR’s velocity） are included in the piecewise-linear projection function.With numerical simulation,both effectiveness and robustness of the designed scheme are validated for robust trajectory tracking control of an WMR disturbed by external noise.Comparisons with four popular methods are also conducted,showing superiority of our scheme.

基金：

supported by Key Areas R＆D Program of Guangdong Province （Grant NO.2020B090925001）； Key R＆D Program of Guangzhou City （Grant NO.202103020004）； Industrial Science and technology project of Foshan City （Grant NO.2020001006496）；

会议名称：

第41届中国控制会议

会议时间：

2022-07-25

会议地点：

中国安徽合肥