Trajectory Tracking Control For Wheeled Mobile Robot Based On Dynamic

With the continuous development and progress of WMR technology,WMR has been widely used in many fields,such as flood fighting and rescue,post-earthquake search and rescue,fire rescue,explosion-proof and explosion-proof and aerospace,and this like.WMR are susceptible to many factors such as road surface,sideslip and external disturbance in the practical application process,which greatly affect the tracking stability and accuracy for robots.In order to solve the above problems,the key technology of wheeled mobile robots,which is trajectory tracking control of WMR,is deeply studied in this research.The main research contents are as flowing:Firstly,research on the influence of side slip on WMR's motion.Aiming at the unavoidable sideslip of WMR in the course of motion,the kinematic model of it is established under sideslip.For this problem,the anti-sideslip kinematic controller is designed by backstepping control strategy.At the same time,the appropriate Lyapunov function is designed and the stability is proved for designed controller.The simulation model is founded in Matlab and simulation experiment results show that the designed controller can keep the system stable and has good control accuracy and response speed.Secondly,research on dynamics characteristic of WMR under the influence of extern disturbance.Aiming at the situation that WMR is susceptible to external disturbance,the disturbance dynamic model is established for WMR in this research.And then,backsteppingsliding controller with PD-RBFNN observer is designed to overcome the influence of extern disturbance.At the same time,the convergence and stability of the control system are proved by Lyapunov method and the neural network is optimized to guarantee the boundedness of RBFNN's weights.Compared with various control methods in simulation experiment,the results show that the system not only has good stability,but also can effectively overcome the influence of external disturbances and has higher control accuracy and faster response speed under the control of designed controller.Thirdly,research on WMR dynamic trajectory tracking control based on velocity command.When WMR moving at a high speed,in order to make the robot achieve high-precision tracking the predetermined trajectory,it is necessary to consider the influence of inertia force and other factors,and the kinematics and dynamics characteristics of it must be considered comprehensively.At the same time,speed control instructions is mostly adopted in actual application to control the actuators.In this research,the kinematics and dynamics model of WMR are reconstructed and the corresponding controller is designed.The dynamic trajectory tracking controller for WMR based on velocity command is completed.The stability of the system is proved by Lyapunov.At the end,the simulation experiments are done in MATLAB/Simulation system to verify the reliability for designed controller.The results show that the control system can achieve a nice control performance.And lastly,After the above works,the dynamic trajectory tracking problem of WMR has been solved,only to find a serious problem,which is the adjustment of control parameters for control system.In order to solve this problem,the idea of optimal control is utilized in this study,and the system performance index ITAE is used as the fitness function of GA to complete the autonomous optimization of controller's parameters in the previous part.At the end,the simulation experiments are done in MATLAB/Simulation system,which show that the presented scheme can effectively reduce the workload of parameter adjustment of the control system.At the same time,the control accuracy of the system has been greatly improved and the optimal control of WMR has been realized.