Author:
Wang Yina,Xiong Wenqiu,Yang Junyou,Jiang Yinlai,Wang Shuoyu
Abstract
This work develops an indoor carrier robot for people with disabilities, where the precise tracking of designated route is crucial. The parameter uncertainties and disturbances of the robot impose significant challenges for tracking. The present paper first investigates the dynamic of mechanical structure and modeling of actuator motors and constructs a new dynamic model by considering all main parameter uncertainties and disturbances. A novel robust feedback tracking controller considering both the optimization of path tracking and the minimization of the power consumption energy is proposed. It is proved that the tracking errors e and e ˙ satisfy a H∞ performance indicator while the energy consumption is minimum. A simulation example was performed and the results show that this novel algorithm can effectively reduce the tracking error from 0.2 m to 0.006 m while guaranteeing the minimum energy consumption. Furthermore, the effectiveness of the proposed method was validated by experiment compared with the non-robust one.
Funder
Ph.D. Start-up Fund of Natural Science Foundation of Liaoning Province
Liaoning Provincial Natural Science Foundation
Subject
Energy (miscellaneous),Energy Engineering and Power Technology,Renewable Energy, Sustainability and the Environment,Electrical and Electronic Engineering,Control and Optimization,Engineering (miscellaneous)
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