Tracking Control Of Nonholonomic Wheeled Mobile Robots With Input Delay

With the rapid development of human science and technology,the problem of incomplete mobile robot control has been widely concerned in academia and society.Robots highlight the potential application value in various fields to help people solve the work that could not be done before and all the simple and boring work.Scholars at home and abroad have put forward a variety of solutions to the uncertainty of disturbance,unknown parameters and unmodeled dynamics in the actual control system of incomplete mobile robots,which provides convenience for our research.Therefore,in this paper,the trajectory tracking control of(1,2)nonholonomic robot with uncalibrated camera parameters and trailer robot with input delay are discussed.The first two chapters of this thesis mainly introduce the background and significance of the research,and analyze of domestic and foreign research status,briefly describe the existing research methods in the research of non-integrated mobile robot control.And the basic knowledge of incomplete mobile robot,stability theory and the basic theory of sliding mode variable structure control are introduced.In the last three chapters,the adaptive dynamic feedback tracking control of(1,2)nonholonomic robot with uncalibrated camera parameters is studied,the uncertain model of non-integrated kinematics system is given,and the tracking error system is introduced.Using input and state transformation,an adaptive dynamic feedback controller is designed to make the uncertain system track the desired trajectory.Then the kinematics trajectory tracking control problem of(1,2)nonholonomic robot with input delay is studied.The kinematic model time delay is derived as chain form and the tracking error model is obtained.An adaptive neural network controller is designed to approximate the unknown term in the error system,and the delay problem is deal with by Lyapunov-Krasovskii functional technology,which makes the results of the controlled system track to the reference trajectory.Secondly,the tracking error model and the uncertain chain model of the connected axis mobile robot with input delay are obtained,and the adaptive equivalent sliding mode controller is designed.Two sliding mode variable structure controllers are designed to make the state error zero.Finally,simulation experiments are carried out to verify the effectiveness of the controller.The main innovation of this paper is that the trajectory tracking controller is designed by combining neural network with synovial control to solve the problem of unknown and unequal camera parameters.Then,the adaptive equivalent sliding mode controller is proposed to track the system state to the desired trajectory.