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

Yina Wang, Wenqiu Xiong, Junyou Yang, Yinlai Jiang and Shuoyu Wang
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Yina Wang: School of Electrical Engineering, Shenyang University of Technology, Shenyang 110870, China
Wenqiu Xiong: School of Electrical Engineering, Shenyang University of Technology, Shenyang 110870, China
Junyou Yang: School of Electrical Engineering, Shenyang University of Technology, Shenyang 110870, China
Yinlai Jiang: Center for Neuroscience and Biomedical Engineering, The University of Electro-Communications, Chofu, Tokyo 182-8585, Japan
Shuoyu Wang: School of System Engineering, Kochi University of Technology, Kochi 782-8502, Japan

Energies, 2019, vol. 12, issue 10, 1-23

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.

Keywords: indoor carrier robot; robust motion control; dynamic model; parameter uncertainty and disturbances; minimum-energy consumption (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2019
References: View complete reference list from CitEc
Citations: View citations in EconPapers (2)

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