A kind of self-adapting power control method of mobile robot

A kind of self-adapting power control method of mobile robot

  • CN 108,469,738 A
  • Filed: 05/17/2018
  • Published: 08/31/2018
  • Est. Priority Date: 05/17/2018
  • Status: Active Application
First Claim
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1. a kind of self-adapting power control method of mobile robot, which is characterized in that be specifically implemented according to the following steps:

  • Step 1 establishes kinetic model under the effect of mobile robot external world unknown disturbances;

    Step 2, the state equation that Mobile Robot Control System under external interference is established according to kinetic model, and to the shapeState equation is decoupled;

    Step 3, the state equation according to decoupling obtain control mobile robot virtual controlling amount using the method for inversion;

    Step 4, the unknown disturbances being subject in moving process using interference observer observation mobile robot, pass through adaptive lawIt realizes the compensation to unknown disturbances, control mobile robot virtual controlling amount is synthesized with the compensation of unknown disturbances, is controlledInput;

    Step 5, the control by control input realization to moveable robot movement track.

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