Trajectory Tracking Control Of Three-wheel Omni-directional Mobile Robot Based On HSIC

The omni-directional mobile robot can motion in narrow and small space and hashigh maneuverability, widely applied to control task with confined space and highmaneuverability. The structure of TOMR with holonomic constraints is morecomplicated compared with the differential driving robot, and it is the typical MIMOcomplex nonlinear system.,There exists strong disturbance and parametertime-varying characteristics in its real-time motion, making trajectory tracking controlvery difficult. Thus, the omni-directional mobile robot trajectory tracking is the hot anddifficulty of research in domestic and abroad.The design of the Human-simulated Intelligent Controller(HSIC) is the imitationof control behavior of human.The main target of the research is to imitate the controlstructure of humans and the way humans control their behavior, especially suitable forthe controlled object with unaccurate model and complexed nonlinear system.The paper considers the TOMR trajectory tracking control, the main works of thispaper as follows:①Three-layer structure HSIC control is proposed for trajectory tracking ofomni-directional mobile robot.The HSIC controller contains underlying execution layer, dynamic parameteradaptive adjustment layer and task coordination layer. Aimed at the nonlinear influenceof robot motion model on motion control, the execution layer constitutes the basiccontrol unit using HSIC multi-modal controller. Aimed at the strong disturbance andtime-varying characteristics, parameter adjustment layer changes the parameters ofexecution layer by neural network, optimizing the result of basic control unit.According to the system and environment state, task coordination layer controls theoperating state of the control unit and the mode of parameter adjustment.②Build the simulation platform and the actual system platform of TOMRbased on quasi-equivalent state-space model.Experiments show that the three-layer structure HSIC controller solves theproblem of trajectory tracking well. Comparison shows that the three layer structureHSIC controller improves the stability features.