Human-Simulated Adaptive Backstepping Point Stabilization Control For Two-wheeled Differential Mobile Robot

The two-wheeled differential mobile robot has the advantages of simple structure,light weight,large load,fast walking speed and high efficiency.This makes two wheeled differential mobile robot widely used.Two-wheeled differential mobile robot is a typical kinematic nonholonomic constraint system.Its driving system has nonlinear characteristics such as dynamic saturation.Because of the mechanical gap between the robot wheel and the motor,the mechanical gap of the motor and the gear box and the change of the viscosity coefficient of the motor shaft,the parameters of the system model have obvious uncertainty.These factors often make the control system's control effect worse,or even lead to instability of the system.Therefore,the study on the point stabilization control of two-wheeled differential mobile robot for the above problems has important theoretical significance and practical application value.(1)Based on the Newton Euler method,a two-wheeled differential mobile robot dynamic model is built,the dynamic model reflects the mechanical clearance of the robot wheel and the motor,the mechanical clearance of the motor and the gear box and the change of the viscosity friction coefficient on the shaft of the motor,and the model characteristics of the related system are analyzed.(2)A human-simulated intelligent Backstepping adaptive(HSIAB)point stabilization controller with upper and lower layers is proposed.The upper layer is an intelligent decision control layer based on multi-modal human-simulated intelligent design,and the lower layer is a Backstepping adaptive current control layer based on the dynamic model of the Newton Euler method.So that it can play an adaptive role in regulating the motor current at the bottom.(3)In view of the saturation problem of the actuator,a current controlled DC motor double closed loop speed control system is designed,and a double closed loop physical platform of DC motor is set up.On this platform,the validity of adjustable current control is verified,the control of the motor starting acceleration is realized,and the two DC servo of the two wheel differential mobile robot is made.The control performance of the electrical system is basically the same.(4)A two-wheeled differential mobile robot's simulation and physical platform is built.The control effect of the proposed control algorithm and Backstepping point stabilization algorithm is compared on the simulation platform.The control effect of the proposed control algorithm and multi-mode human simulated intelligent control algorithm is compared on the physical platform.The practicability and effectiveness of the point stabilization algorithm proposed in this paper is proved.