Research on Some Control Algorithms to Compensate for the Negative Effects of Model Uncertainty Parameters, External Interference, and Wheeled Slip for Mobile Robot

摘要

In this article, the research team systematically developed a method to model the kinematics and dynamics of a 3-wheeled robot subjected to external disturbances and sideways wheel sliding. These models will be used to design control laws that compensate for wheel slippage, model uncertainties, and external disturbances. These control algorithms were developed based on dynamic surface control (DSC). An adaptive trajectory tracking DSC algorithm using a fuzzy logic system (AFDSC) and a radial neural network (RBFNN) with a fuzzy logic system were used to overcome the disadvantages of DSC and expand the application domain for non-holonomic wheeled mobile robots with lateral slip (WMR). However, this adaptive fuzzy neural network dynamic surface control (AFNNDSC) adaptive controller ensures the closed system is stable, follows the preset trajectory in the presence of wheel slippage model uncertainty, and is affected by significant amplitude disturbances. The stability and convergence of the closed-loop system are guaranteed based on the Lyapunov analysis. The AFNNDSC adaptive controller is evaluated by simulation on the Matlab/simulink software R2022b and in a steady state. The maximum position error on the right wheel and left wheel is 0.000572 (m) and 0.000523 (m), and the angular velocity tracking error in the right and left wheels of the control method is 0.000394 (rad/s). The experimental results show the theoretical analysis’ correctness, the proposed controller’s effectiveness, and the possibility of practical applications. Orbits are set as two periodic functions of period T as follows.