Research On Design And Trajectory Tracking Control Of The Two-wheel Self-balancing Robot

Humanoid robots are a hot research direction in the field of robotics.Also,finding a valid method to resolve locomotion control problem of humanoid robots is also an important issue in the field of humanoid robots.Wheeled robots possess high maneuverability and flexible motion e ven in small workspaces.Therefore,the locomotion of wheel mobility might be used to solve the problem of the forward movement of the humanoid robot.The two-wheel self-balancing robot is an intrinsically nonlinear underactuated system.How to realize the trajectory tracking control of the two-wheel self-balancing robot has always been the focus and difficulty of this research direction.In this paper,the two-wheel self-balancing robot is taken as the research object,and the two-wheel self-balancing robot experimental prototype is designed to study the trajectory tracking control of the two-wheel self-balancing robot.As for the research,the experimental platform is always the basis of experimental research.Whether the construction of the experimental p latform is reasonable or not directly affects whether the control method designed in the later stage can be well executed on it.This paper introduce the system designs of the two-wheel self-balancing robot from the mechanical system and hardware control system.The robot adopts a two-wheel center collinear arrangement,and this overall compact design makes it easy to build the model in the later process.In the hardware control system,key components such as microcontrollers and sensors are selected,and system control circuits are designed.On the basis of the experimental platform established,the Newton-Euler method is used to model the dynamics of robot.However,these relevant parameters are obtained by the system parameters techniques,so that the overall mathematical model can be accurately constructed.Finally,the constraint-based trajectory planning is carried out to provide a reasonable expected trajectory for the simulation and experiment of the following control segment.For simplicity,according to the characteristics of the system,the two-wheel self-balancing robots are decoupled into a forward system and a steering system according to the function in system,which are then designed separately.The two-wheel self-balancing robot,its objective is to realize the fast and accurate tracking control of the desired velocity and displacement.Due to the high robustness of the sliding mode technique,the LQR-based sliding mode controller and the terminal sliding mode controller are comparatively designed in forward system.The steering system uses a linear model predictive control for its controller design due to the fact that it is a linear system based on some assumptions.On the basis of the theoretical derivation of the above controller,the simulation is implemented in MATLAB.In addition,the sliding mode control based on LQR and the tracking ability of the terminal sliding mode controller are analyzed.The analysis model predicts the controller's ability to track the steering speed,and finally tracks the expected trajectory we have planned to analyze whether the designed controller is reasonable.On the experimental platform,the forward velocity tracking experiment,the steering speed tracking experiment and the trajectory tracking experiment of the planned desired trajectory are respectively carried out to verify whether the simulation and theoretical derivation control methods can be effectively carried out on it.