Method of decomposition in mobile robot control

摘要

A complex of the problems of controlling the mobile wheel robots was solved in various formulations. A methodology of designing the generator of realizable driving actions was developed, that is, the question of feasibility analysis of the given trajectory stands no longer. Developed was a two-level decomposition procedure for designing a control system of the mobile two-wheel robot driving it to the desired trajectory and then along it with the prescribed velocity. Forced equation relating the linear and angular deviations enabled reduction of the design problem to the elementary subproblems where the dimensions of the state vectors and controls coincide. The sliding-mode observers are used for informational support of the basic control laws, which enables one to establish the current estimates of the functional components and exogenous disturbances and simplifies substantially the computer-aided realization of the control algorithms. The results of modeling corroborated efficiency of the developed algorithms.