Research On Trajectory Tracking Control Of Wheeled Mobile Robot

With the rapid development of human science and technology,robotics has received extensive attention from many researchers.As a kind of robot,wheeled mobile robots are not only used in the aerospace field,but also have potential applications in agriculture,industry,and service industries.Due to its wide application field and flexible mobility,wheeled mobile robots have gradually become a research hotspot in robotics.Motion control technology is a guarantee for wheeled mobile robots to perform various tasks,and trajectory tracking control is one of the main technologies in motion control.This article focuses on the trajectory tracking control of wheeled mobile robots.The main research contents are as follows:This article is based on the planetary prototype prototype research,its essence is a wheeled mobile robot.Because the nonlinear constraints of wheeled mobile robots are mainly reflected in the kinematics,this paper mainly studies the trajectory tracking technology based on the kinematics model.In order to analyze the relationship between the control quantity and the state quantity of the wheeled mobile robot,it is necessary to establish a global coordinate system and a local coordinate system,and analyze the characteristics of the trajectory tracking error equation of the wheeled mobile robot and the tracking of the desired trajectory.After analyzing the kinematics model of the wheeled mobile robot,a sliding mode variable structure control algorithm is used to design the trajectory tracking control law of the wheeled mobile robot.Firstly,the trajectory tracking control law of the wheeled mobile robot is designed based on the fast two-power reaching law,and compared with the sliding mode-based double closed-loop trajectory tracking control law;then the relevant rales are designed using fuzzy logic to achieve a reasonable dynamic regulation control law.The function of the parameters,finally formed the fuzzy sliding mode trajectory tracking control law of the wheeled mobile robot.The trajectory tracking control law of wheeled mobile robot based on fuzzy sliding mode design is simulated and compared with the effect of weakening the system's buffeting effect.The wheeled mobile robot has better motion quality.After studying the trajectory tracking control law of the mobile robot in detail,the trajectory tracking control system of the wheeled mobile robot is designed.Firstly,the design requirements of the trajectory tracking control system are analyzed,and then the hardware structure and circuit design are completed.Then the software part of the trajectory tracking control system of the wheeled mobile robot is designed based on the modular idea in the Beckhoff IPC.The HMI component under TwinCAT3 is used to develop the man-machine interface and the wheeled mobile robot is operated.Finally,in the Beckhoff IPC,the trajectory tracking control algorithm designed in this paper is generated through the Simulink program and can be called by the software PLC in TwinCAT3.The Scope view is monitored in the IPC to make full preparations for the project follow-up project.