Synthesis of the synergetic control law of the transport robotic platform

摘要

The paper presents a new approach to non-linear control of the omnidirectional mobile robotic platform. The omnidirectional mobile robot was chosen as the object of control because among other ground vehicles it is the most maneuverable and intended for a work in conditions of limited space, e.g. it is designed for solving transport tasks in warehouses. The omnidirectional platform has the shape of a triangle, it means that the wheels are located at an angle of 120 degrees, whose axes lie through the center of the vehicle, so this design allows to move loads in a closed space. The article considers the analysis of the mathematical model of the omnidirectional mobile robotic platform for taking into account in control law design procedure a non-linear characteristics of the control object. Also, in this paper presented the explanation of using new non-linear approaches to design control systems for mobile robots, e.g. the synergetic control theory (SCT) is presented. The main method of SCT is the method of analytical construction of aggregated regulators (ACAR) which allows synthesizing control laws for complex nonlinear large-scale systems without using linearization procedures or other simplifications. The resulting control system of the omnidirectional mobile robotic platform takes into account the non-linear properties of the model, therefor this control strategy ensures the asymptotic stability of the close loop system. In this paper presented results of computer simulation of obtained system. The simulation results confirm that in the synthesized close loop system of the omnidirectional mobile robotic platform, movement to a given point of the working space with a given orientation angle of the platform is provided.