Research On Adaptive Tracking Control Of Two-Wheel Balanced Mobile Robot Under Various Loads

Two-wheeled Balanced Mobile Robot is a typical non-linear multi-input multi-output under-driven system.This type of system is a difficult subject in the research of control theory.The two-wheel balanced mobile robot has the characteristics of low maintenance difficulty,low manufacturing and maintenance costs,and flexible movement.It is therefore applied to various fields such as industry,agriculture,military,and life.The working environment in different fields is different,so it will be affected by a variety of uncertain disturbances during operation.The two-wheel balancing mobile robot must not only maintain its own balance during the work,but also need to carry a certain load.However,since the physical parameters such as the size of the load and the position of the center of mass cannot be predicted in advance,this brings certain challenges to the motion control of the two-wheeled balanced mobile robot.In order to solve the above problems,first of all,this topic introduces uncertain parameters about the center of mass when establishing a mathematical model for a two-wheeled balanced mobile robot,making the model more general.Secondly,this topic models the characteristics of the actuator's saturation and dead zone.The adaptive tracking controller with finite time convergence and the adaptive tracking controller with constrained error convergence speed are designed.Specifically discuss the following issues:(1)The modeling problem of the two-wheeled balanced mobile robot in the case of uncertain load centroid is discussed,and a generalized mathematical model is established by the Newton analysis method,which reflects the characteristics of the load size and the position of the center of mass of the two-wheeled balanced mobile robot.At the same time,the dead zone and saturation characteristics of the actuator were modeled and analyzed.(2)Under the condition of non-linear non-holonomic constraints and uncertain centroid parameters,an adaptive tracking controller is constructed by designing an error filter and designing an adaptive rate.The controller can converge in a finite time,which makes the trajectory tracking error ultimately bounded.The controller's ideal conditions and the controller's design considerations under the conditions of output saturation and dead zone are discussed separately.The controller can make the trajectory error finally bounded.(3)Under the condition that the physical parameters of the load centroid are unknown,the error convergence speed of the trajectory tracking controller is discussed.By introducing a transfer function and an error filter,an adaptive control algorithm is designed,so that the system error can be attenuated at an exponential speed,and the transient response performance of the controller is improved.The ideal conditions of the actuator and the design of the controller to ensure the error convergence speed in the case of output saturation and dead zone are discussed separately.The controller ensures the tracking transient performance and steady-state performance.Finally,the effectiveness of the control algorithm and adaptive rate is verified by matlab.And through experiments to verify the effectiveness of the controller to ensure transient and steady-state performance.