A deterministic robust control with parameter optimization for uncertain two-wheel driven mobile robot

Qilin Wu; Fei Lin; Han Zhao; Chunpeng Zhang; Hao Sun

doi:10.1016/j.isatra.2023.12.015

A deterministic robust control with parameter optimization for uncertain two-wheel driven mobile robot

ISA Trans. 2024 Mar:146:29-41. doi: 10.1016/j.isatra.2023.12.015. Epub 2023 Dec 11.

Authors

Qilin Wu¹, Fei Lin², Han Zhao², Chunpeng Zhang³, Hao Sun⁴

Affiliations

¹ School of Advanced Manufacturing Engineering, Hefei University, Hefei 230601, China. Electronic address: wuql@hfuu.edu.cn.
² School of Mechanical Engineering, Hefei University of Technology, Hefei 230009, China; AnHui Key Laboratory of Digital Design and Manufacturing, Hefei University of Technology, Hefei 230009, China.
³ School of Advanced Manufacturing Engineering, Hefei University, Hefei 230601, China.
⁴ School of Mechanical Engineering, Hefei University of Technology, Hefei 230009, China; AnHui Key Laboratory of Digital Design and Manufacturing, Hefei University of Technology, Hefei 230009, China. Electronic address: sunhao.0806@hfut.edu.cn.

PMID: 38104021
DOI: 10.1016/j.isatra.2023.12.015

Abstract

The uncertainty in mobile robot greatly affects control accuracy. This makes it difficult to apply to more rigorous high-precision engineering fields. Therefore, the fuzzy set theory is introduced to describe the uncertainty. Based on that, the fuzzy mobile robot system is established. The virtual speed controller using backstepping method is designed. Then, a robust control method is proposed to guarantee the uniform boundedness and uniform ultimate boundedness of the controlled system. Furthermore, the balance optimization problem of the performance and cost of the controlled system is explored. By minimizing the performance index containing fuzzy numbers, the optimal control parameter is obtained. Compared with the linear quadratic regulator algorithm, which is the representative optimal robust controller, the proposed control method and optimization strategy based on fuzzy set theory are verified to be effective. The control accuracy is further improved.

Keywords: Fuzzy set theory; Optimal design; Robust control; Uncertain two-wheel driven mobile robot.