基于事件触发的独轮车移动机器人跟踪控制系统设计

Design of Tracking and Controlling System Based on Event-Triggered for Mobile Robots

摘要:

针对传统的时间触发机器人控制系统中通信要求高的问题,提出了使用事件触发控制器的独轮移动机器人控制系统；首先,根据类仿真方法在忽略通信约束的条件下合成控制器；然后,将问题建模为混合系统并在网络上实现；最后,导出了合适的事件触发条件；实验结果显示,使用基于事件触发的控制算法后实现了系统的解耦和镇定,可调节系统在阶跃输入激励下的响应；相比传统的时间触发设置,在确保跟踪性能的前提下,提出的事件触发策略能显著减少通信需求,有望应用于真实系统。

Abstract:

For the problem of strict limitation for communication in traditional time-triggered robots control system, a unicycle mobile robots control system using event-triggered controller is proposed. Firstly, the controller is designed while ignoring the communication constraints and following emulation-like approach. Then the problem is modeled as hybrid model and implemented on networks. Finally, the condition is exported. The experimental results show that it has realized decoupling of the system and calm by using proposed event-triggered control algorithm. The proposed strategy has reduced the need for communication significantly comparing to the traditional time-triggered setup when ensuring tracking performances, which indicates that it is expected to be applied on a real system.