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

Author

Listed:
  • 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)

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.

Suggested Citation

  • Yina Wang & Wenqiu Xiong & Junyou Yang & Yinlai Jiang & Shuoyu Wang, 2019. "A Robust Feedback Path Tracking Control Algorithm for an Indoor Carrier Robot Considering Energy Optimization," Energies, MDPI, vol. 12(10), pages 1-23, May.
    • Handle: RePEc:gam:jeners:v:12:y:2019:i:10:p:2010-:d:234379
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    Citations

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    Cited by:

    1. Mohammad Mohammadpour & Lotfi Zeghmi & Sousso Kelouwani & Marc-André Gaudreau & Ali Amamou & Massinissa Graba, 2021. "An Investigation into the Energy-Efficient Motion of Autonomous Wheeled Mobile Robots," Energies, MDPI, vol. 14(12), pages 1-19, June.
    2. Anxing Liu & Haisheng Yu, 2020. "Smooth-Switching Control of Robot-Based Permanent-Magnet Synchronous Motors via Port-Controlled Hamiltonian and Feedback Linearization," Energies, MDPI, vol. 13(21), pages 1-16, November.

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