Adaptive Event-Triggered Optimal Tracking Control for Wheeled Mobile Robots Considering Force-Velocity Hybrid Constraints

摘要

In the soft deformable terrain environment, the running state of the wheeled mobile robot is easily affected by the complex wheel-ground interaction, which limits its running state variables and input torque. In this paper, the tracking control of wheeled mobile robot under soft deformable terrain is studied, and a dynamic event trigger mechanism is proposed. Based on the proposed trigger strategy, an adaptive event trigger optimal tracking control algorithm for wheeled mobile robot system with nonlinear constraints is designed. By analyzing the nonlinear constraint problem faced by the dynamic model of wheeled mobile robot considering skidding and slipping, the dynamic model of wheeled mobile robot in soft deformable terrain environment with force-speed mixed constraints is constructed. Combining the force-speed constraint and the state error event-triggered idea, a dynamic event-triggered mechanism containing constraint information is designed, and Zeno behavior is avoided. An adaptive event-triggered optimal controller is constructed by combining adaptive dynamic programming algorithm and policy iteration algorithm. To make the wheeled mobile robot complete the tracking control. Finally, it is verified by simulation.