2台の車両型移動ロボットから構成される協調搬送システムの速度可変経路追従フィードバック制御法とその実験的検証(機械力学,計測,自動制御)

Abstract

This paper presents a path following feedback control method with a variable velocity for a cooperative transportation system with two car-like mobile robots. The path following feedback control method previously presented makes all the state variables of the transportation system be asymptotically stable by feedback control except its position along a path under the precondition that its moving velocity along the path controlled by feedforward is non-zero constant. In order to enable the transportation system to make a smooth start and stop, it is necessary for it to vary its moving velocity continuously. Especially, the slippage between the driving wheels of the transportation system and the floor causes its moving velocity to be slower than its desired moving velocity so that it has a deviation of its position from its desired position along the path by feedforward control. Therefore, we modify the feedback control method previously presented. In the modified feedback control method, all the state variables of the transportation system are controlled by feedback and their asymptotical stability is guaranteed and furthermore, the deviation of its position from its desired position along the path because of the slippage between its driving wheels and the floor is compensated and such deviation is converged into zero by a new feedback control loop in which its moving velocity along the path is variable. We have developed an experimental apparatus of the transportation system and verified the validity of the feedback control method with a variable velocity experimentally.