Non-linear control of a tracked robot

Abstract

The paper demonstrates a new approach to the nonlinear control of a tracked robotic platform. As a control object, a tracked mobile robot chosen because, among other ground vehicles, it is the most maneuverable and designed to work in conditions of limited space. To take into account the nonlinear characteristics of the control object, the article deals with the analysis of a mathematical model of a mobile robotic platform. Also, provides an overview of modern methods and approaches to the control of tracked robotic platform. The problems of controlling the mobile robot are highlighted, in particular, the application of methods and approaches based on the application of system linearization methods, which makes a robotic system with these control laws limited to certain local control algorithms. Therefore, the paper presents an explanation of the use of new non-linear approaches to the mobile robots control, in particular, synergetic control theory. The main method, within the framework of this theory, is the method of analytical design of aggregated regulators (ADAR), which allows to synthesize control laws for complex nonlinear systems of large dimensionality without using linearization procedures or other simplifications, so this method is used to synthesize the synergetic control law of a mobile robot. The resulting control laws takes into account the nonlinear properties of the mobile robotic platform model; therefore, this control strategy ensures the asymptotic stability of the close-loop system and the precise execution of the specified invariants. To verify the resulting system, computer simulation is used. The simulation results confirm that in the synthesized closed-loop mobile robot control system, movement to a given point of the working plane with a given angle of orientation of the platform is provided.