Model Building With Disturbance And Robust Control Of Mobile Robot With Uncertainty

Since robot can be viewed as an effective extension of human's motor ability, it is sure to be indispensable in the course of recognition and exploration of the world. Due to its important role in theory and application, the motion control of mobile robot has been given enough attention by researchers in the world.Two main problems have been studied on the motion control of mobile robot in recent years. One problem is motion control of non-holonomic mobile robot; the other problem is anti interference in mobile robot's motion. The former has huge challenge for the robot character in non-holonomic; the latter has much difficulty for there are lots of uncertainty factors affecting the motion of mobile robot. The main results as the following:1. Build the math model according to a kind of holonomic mobile robot with orthogonal-wheels. Because the non-holonomic mobile robot has this inherent defect, it cannot omni-direction motion and bring about many control problems.2. It is well known that mobile robot system is complicated, time-varying and strong coupling system. We provided an affine nonlinear control method based on the nonlinear geometry theory. The simulation result shows that this method not only can be applied to the trace control of mobile robot, but also can be used to nonlinear systems with strong coupling.3. The possible uncertainty in mobile robot system analyzed according to the omni-direction mobile robot with orthogonal-wheels. After affirming the main uncertainty, the method of solving this uncertainty is given. Simulation result shows the law of this uncertainty when the mobile robot moves around omni-directionally. The math model with mainuncertainty was deduced in the end, which provided theory base for the control methods such as robust control etc. 4. On the study of robust control in terms of the math model with uncertainty. According to the requirement of reality, the math model with uncertainty should be changed into standard trace control problem. The simulation result is illustrated the robust control method having the effect of anti interference.