Trajectory Tracking Control Of Indoor Carrier Robot Considering Energy Optimization

Omni-directional mobile robots(OMRs)are widely used in complex environments such as medical rehabilitation,catering services,logistics,and transportation due to their flexible movement in narrow areas.Therefore,the control accuracy of track tracking is essential.On the other hand,most mobile robots rely on batteries to provide energy.To avoid the frequent charging of the robot and extend the working time,designing an energy-saving control strategy becomes another critical issue.Aiming at the tracking error and energy loss of Omnidirectional mobile robot while tracking the predesigned target,a feedback energy-saving controller with disturbance robust compensation is proposed by utilizing the energy consumption model of a three-wheel Omni-directional Mobile Robot(TOMR).However,the robot system is a constraining system.This method relies on the experience of the designer to solve the actual constraining system control problems,and the energy-saving control law solved without considering the actual system constraints has limitations.Therefore,a new predictive energy-saving control model is proposed based on the energy consumption prediction model to extend the battery life of omnidirectional mobile robots(OMRs)with various constraints.This paper's detailed research work is as follows:(1)Analyzing the motor system and the motion characteristics of TOMR,this paper firstly constructs a detailed dynamic model.Then,a novel energy consumption model of robot is established which can effectively predict all kinds of energy consumption in the tracking task.Finally,the validity of the energy consumption model in predicting the instantaneous power change trend is verified by the combined analysis of simulation and experiment.(2)By taking the new energy consumption model(considering the motor's inverse braking)into the performance index,a feedback energy-saving controller with disturbance robust compensation(ESRC)is proposed which oritents to the minimum of trajectory tracking error and energy consumption.Additionally,a robust compensation term is introduced into the contrller by employing an uncertainty and disturbance observer(UDE)to cancel or minimum the effect of the the external disturbance under the premise of optimal energy consumption.Then,by utilizing Lyapunov stability theory,the proposed ESRC system is proved to be asymptotically stable.Finally,the simulation results manifest that the ESRC can achieve superior tracking performance with lower energy consumption and has stronger robustness compared to the proportional privative controller,LQR,H? controller,and normal energy-saving compensation controller.(considering the motor's inverse braking)(3)A novel model predictive energy-saving control(MPESC)is proposed to extend the battery life of omnidirectional mobile robots(OMRs)with various constraints.The method proposed is designed to achieve superior tracking performance with low energy consumption by leveraging "predictable" energy consumption.Firstly,prediction models are established based on the dynamic model of OMR.Secondly,by taking the prediction model into the energy consumption model,a novel energy-saving performance index considering the energy consumption of the motor's inverse braking and the robot's special triangular structure is derived.Then,to avoid serious overshoot of the control increment,the inverse time-varying decoupling control input matrix and control input is introduced based on the new performance index.Finally,by leveraging Lyapunov stability theory,the proposed MPESC system is proved to be asymptotically stable.The simulation results demonstrate that the proposed control method has higher control precision,lower energy loss,stronger robustness,and effectively expands the range of feasible solutions compared to the soft constrained model predictive control(SMPC).