A Robust Feedback Path Tracking Control Algorithm for an Indoor Carrier Robot Considering Energy Optimization

Yina Wang,Shuoyu Wang,Junyou Yang,Yinlai Jiang,Wenqiu Xiong

doi:10.3390/en12102010

Abstract

This work develops an indoor carrier robot for people with disabilities, where the precise tracking of designated route is crucial. The parameter uncertainties and disturbances of the robot impose significant challenges for tracking. The present paper first investigates the dynamic of mechanical structure and modeling of actuator motors and constructs a new dynamic model by considering all main parameter uncertainties and disturbances. A novel robust feedback tracking controller considering both the optimization of path tracking and the minimization of the power consumption energy is proposed. It is proved that the tracking errors e and e ˙ satisfy a H∞ performance indicator while the energy consumption is minimum. A simulation example was performed and the results show that this novel algorithm can effectively reduce the tracking error from 0.2 m to 0.006 m while guaranteeing the minimum energy consumption. Furthermore, the effectiveness of the proposed method was validated by experiment compared with the non-robust one.

Highlights

In recent years, more and more countries have the lower fertility rates, which lead to ageing populations [1]
We proved that robust feedback acceleration controller is designed
Using the common Lyapunov function, we proved that the tracking results are consistent with a pre‐programmed path designed such that the mean square of trajectory tracking errors e and e satisfy a Hꝏ performance indicators while the energy consumption is at minimum

Summary

Introduction

More and more countries have the lower fertility rates, which lead to ageing populations [1]. To lead more convenient and safety lives, as well as to free young labor, robots are highly expected to support the daily life of humans at homes, offices, hospitals, and welfare facilities in the years to come [2]. With a rapidly increasing number of disabled people who need daily life help, life support robots to take caregivers’ roles are increasingly desirable to assist such people by endowing as much independence as possible [3]. Many kinds of life support robots are being developed [4,5,6]. In the authors’ laboratory, a goods transport robot with automatic moving function based on a mobile platform has been developed [7]

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Discussion

Conclusion