Research And Design Of Anti-jamming Control Of Mobile Robot With Trailer

With the rapid development of society and constant innovation of science and technology,robots have gradually stepped into industrial production and human life from the field of scientific research.Mobile type robot,as a new kind of service robot,has become the research hotspot in the field of robot at home and abroad in recent years.A special type of mobile robot--a mobile robot with a trailer was studied in this paper,which consists of a tractor and a small car hinged together.The tractor is located at the front end of the mobile robot system,with the front wheel as the steering wheel,which is used to control the angle of left and right steering machine;The driving wheel of the driving car is the rear wheel,which can drive the tractor to move forward and backward,while the trailer passively follows the tractor to move.Tractor-Trailer mobile robots can also be referred to simply as TTMR(Tractor-Trailer Mobile Robot).As a kind of service robot,TTMR has its unique advantages in transportation,and is favored by factories,transportation and other industries because the number of trailers can be changed flexibly.TTMR attracts many scholars with its highly complex and nonlinear control system.Compared with single-node mobile robot system,its theoretical analysis,system design and motion control are much more complicated.The constraint equation of TTMR system not only exists in the axial Angle,but also exists in the steering mechanism of tractor.Therefore,it is difficult to accurately analyze the characteristics of TTMR system by analogy with single-node mobile robot system.Tracking control and anti-interference research of mobile robots are mainly completed in the following aspects in this paper:First: The problem of control and tracking of a mobile robot with a trailer was introduced through the analysis of the control and tracking problem of a single mobile robot.By means of differential homeomorphism and terminal sliding mode,a corresponding controller was designed to track the desired trajectory curve accurately.On this basis,the simulation experiment of the tracking control model of the system was carried out to verify the effectiveness of the system,which laid a solid theoretical foundation for the TTMR anti-interference research in the following paper.Second: Based on the tracking control research of TTMR,the anti-interference performance of the system was further discussed.The anti-interference tracking control of the system was studied by designing an interference observer and integrating sliding mode,and its effectiveness was proved by simulation experiments.Third: The system hardware was described in detail and a human-computer interface wasdesigned,which can monitor system variables and system location information in real time.The hardware platform designed in this paper was used to test the above methods to verify their effectiveness.