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

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.

Generalized Linear Quadratic Control for a Full Tracking Problem in Aviation

“…Modern control techniques, especially the optimal control theory, give a possibility of developing multidimensional controllers that are efficient and robust [16][17][18][19][20]. They are well suited for handling the tracking problems of very general types.…”

An Investigation into the Energy-Efficient Motion of Autonomous Wheeled Mobile Robots

“…Secondly, the cost function of energy consumption due to electric propulsion was used to find an energy-efficient trajectory. Wang et al [58] designed a feedback controller to optimize predefined path tracking by considering energy efficiency for an indoor carrier robot. They developed a new dynamic model by using the dynamics of the actuator along with kinematic models of an omnidirectional robot.…”

Path tracking control of a self‐driving wheel excavator via an enhanced data‐driven model‐free adaptive control approach

“…Andaluz et al [6] present a unified motion control scheme for the point stabilisation and trajectory tracking problems of quadcopters based on the kinematic model of the unmanned aerial vehicles, and the stability and robustness of the proposed method are proved by the Lyapunov's method. Wang et al [7] investigate the dynamic of mechanical structure considering all main parameter uncertainties and disturbances and propose a novel robust feedback tracking controller considering both the optimisation of path tracking and the minimisation of the power consumption energy is proposed.…”

“…The above studies [2–7] employed model‐based control approaches that require a mathematical representation of the target plant. However, when an excavator is driving, its dynamics are a complex system and usually change with different road conditions and driving tasks.…”