Design And Implementation Of Leader I-DX Service Robot Controller Based On Fractional Calculus

With the development of society, the application and research of service robots have attracted more and more attention from many people over the world, and the service robots are emerged from our daily life in all areas gradually. The level of the intelligent about service robot are higher than before, the function is also more and more powerful, thus the higher request of motion performance of service robots is put forward. In this thesis, the new type of motion control strategy for Leader I-DX service robot is researched, and realized by software. The strategy, in some extent, enhances the control performance of system, and increase system speed ability, real time performance and robustness.First of all, the whole scheme of motion control system for the Leader I-DX service robot is introduced detailed, and the function of each module are detailed analysis. The establishment of stable and reliable motion control system provides a good material base for the design of the fractional controller.Secondly, the definition, properties and Laplace transform of fractional order operators are described, the solution method and discretization method of fractional order ordinary differential equation are also presented in the paper. These mathematical achievements are theoretical foundations of fractional order control, and provided the theoretical support for the design of fractional order controller. On this basis, the motion controller based on PDμ and PIλ for Leader I-DX is presented. The simulation results shows that the advantage of fractional order controller based on PDμ is the excellent about dynamic performance, and the advantage of fractional order controller based on PIλ is the excellent about steady state performance.Thirdly, the digital realization of fractional order controller is proposed. The algorithm of incremental fractional order PIλDμ is designed, here, the realization of fractional order differentiator through a differential module which multiplied by the first order low pass filter. Kp and Kd can be isolated by discrete fractional order differentiator alone, and this is easy to adjust the parameters. After that,the software operating system based on the μC/OS-Ⅱ system for Leader I-DX is designed. The software operating system is the carrier of fractional order controller based on PDμ; the embedded software operating system, which has good real-time and high efficiency, can be used to verify the validations of fractional order controller.In the end, the comprehensive test about Leader I-DX athletic performance has been done, the speed performance test and athletic performance comprehensive test are included. The results of speed performance test show that the response speed and accuracy of fractional order controller based on PDμ are better than PD-based integer order controller, while the results of athletic performance comprehensive test show that the linear performance, the load performance and the stable performance of PDμ-based fractional order controller are better than PD-based integer order controller. So in this paper the design of the PDμ-based fractional order motion controller can obtain better results in the speed control index and robustness compared with the PID-based controller.