CN-121979189-A - Robust tracking control method for differential unmanned vehicle under damage and quality change of actuator

CN121979189ACN 121979189 ACN121979189 ACN 121979189ACN-121979189-A

Abstract

The invention belongs to the technical field of motion control of unmanned vehicles, and particularly relates to a robust tracking control method of a differential unmanned vehicle under the condition of actuator damage and mass change, which comprises the following steps of firstly, establishing a kinematic model and a dynamic model aiming at the differential unmanned vehicle, and qualitatively analyzing the influence of actuator efficiency damage and physical mass damage in the kinematic model and the dynamic model; the method comprises the steps of designing control input with estimated values for a left actuator and a right actuator, designing a subsection updating law aiming at the estimator to realize the estimation of uncertainty introduced by performance damage and physical quality damage of the actuators, and designing a zone bit switching mechanism based on event triggering to switch the working interval of the estimator. The method can enable the differential unmanned vehicle to realize stable track tracking under the condition of certain actuator efficiency damage and physical quality damage.

Inventors

HAN ZHEN
JIANG YUTONG
BAO KE
WANG YUANZHAO
YANG FAN
ZHOU XINGYU
YUE WENBIN
ZHOU YUE

Assignees

中国北方车辆研究所

Dates

Publication Date: 20260505
Application Date: 20251205

Claims (10)

1. The robust tracking control method for the differential unmanned vehicle under the condition of actuator damage and mass change is characterized by comprising the following steps: firstly, establishing a kinematic model and a dynamic model aiming at a differential unmanned vehicle, and qualitatively analyzing the influence of actuator efficiency damage and physical quality damage in the kinematic model and the dynamic model; Secondly, designing control inputs with estimated values for the left actuator and the right actuator; Thirdly, designing a subsection updating law aiming at the estimator, and estimating uncertainty introduced by the performance damage and the physical quality damage of the actuator; And fourthly, designing a zone bit switching mechanism based on event triggering, and switching the working interval of the estimator.
2. The robust tracking control method for differential unmanned vehicles under the condition of actuator damage and mass change according to claim 1, wherein in the first step, a kinematic model and a dynamic model are established for the differential unmanned vehicles as follows: Wherein, the And Is the position of the differential unmanned vehicle in the plane, Is the yaw angle of the differential unmanned vehicle, And The linear velocity and the angular velocity are respectively, And The rotation speeds of the left wheel and the right wheel are respectively, And The control inputs of the left actuator and the right actuator are respectively, And The performance coefficients of the actuators are respectively set, And The load weights driven by the left actuator and the right actuator respectively, And Respectively an unknown constant related to the coriolis force, And Qualitative analysis of the effects of actuator performance and physical mass damage on kinematic and dynamic models is described as follows, physical mass damage affects the load weight and coefficient of friction of the actuator, and is therefore reflected in the parameters 、、 And The performance damage of the actuator is mainly reflected in the performance coefficient of the actuator And 。
3. The robust tracking control method for differential unmanned vehicles under damage and mass change of actuators according to claim 2, wherein in the second step, control inputs of the left and right actuators are designed, specifically as follows: Wherein, the Is a positive controller parameter that is used to control the controller, 、、、 And 、、、 Are respectively to 、、、 And 、、、 Is used for the estimation of the (c), Representing variables For time of day Is used for the purpose of determining the derivative of (c), Representing variables For time of day Is used for the purpose of determining the derivative of (c), And Is a positive controller parameter that is used to control the controller, Is half the width of the mobile robot, Is the radius of the wheel of the mobile robot, And Is a positive constant which is a function of the current, As an auxiliary variable, a control signal is provided, And In order to achieve the desired position, the position of the device, In order to achieve a desired yaw angle, 、、、 Respectively represent 、、、 For time of day Is used for the purpose of determining the derivative of (c), Representation of For a pair of Is used for the purpose of determining the derivative of (c), 、、 Respectively represent 、、 For a pair of Is a derivative of (a).
4. The robust tracking control method for differential unmanned vehicles under actuator damage and mass change according to claim 3, wherein in the third step, a segment estimator is designed to estimate uncertainty introduced by actuator performance damage and physical mass damage, specifically as follows: Wherein, the In order to estimate the flag bit(s), The number of the division of the segment interval is represented, , , 、、、、、、、、、......、、、......、、、......、、、......、 Is a positive estimator parameter that is used to estimate the value of the parameter, Representing variables A kind of electronic device To the power.
5. The robust tracking control method for differential unmanned vehicles under damage and mass change of actuators according to claim 4, wherein in the fourth step, a zone bit switching mechanism based on event triggering is designed to switch the working interval of the estimator, specifically as follows: Wherein, the 、、......、 Is a constant threshold value and, Is based on time variable Error variable 、、、、 State variables , As input, a trigger function with scalar value as output.
6. The method for robust tracking control of differential unmanned vehicles under actuator damage and mass change according to claim 1, wherein the method belongs to the technical field of unmanned vehicle motion control.
7. The method for robust tracking control of differential unmanned vehicles under actuator damage and mass change according to claim 1, wherein the method does not depend on additional hardware equipment, and realizes dynamic compensation of actuator performance degradation and mass parameter change caused by impact by designing a control strategy with on-line estimation and compensation capability.
8. The robust tracking control method for the differential unmanned vehicle under the condition of damage and mass change of the actuator according to claim 1, wherein the method can effectively overcome the defect of poor adaptability of the current differential unmanned vehicle tracking control method in a complex impact collision environment, and has a stronger application value in engineering application.
9. The robust tracking control method for the differential unmanned vehicle under the condition of actuator damage and mass change according to claim 1, wherein the method can enable the differential unmanned vehicle to realize stable track tracking under the condition of certain actuator efficiency damage and physical mass damage.
10. The method for robust tracking control of differential drones under actuator damage and mass variation of claim 1, wherein the method can reduce adverse effects of disturbances on tracking error by adjusting controller parameters and estimator parameters.

Description

Robust tracking control method for differential unmanned vehicle under damage and quality change of actuator Technical Field The invention belongs to the technical field of motion control of unmanned vehicles, and particularly relates to a robust tracking control method of a differential unmanned vehicle under the condition of actuator damage and mass change. Background With the rapid development of automatic driving and intelligent unmanned system technology, differential unmanned vehicle tracking control has become a key technology in a plurality of fields such as intelligent transportation, logistics distribution, environment monitoring and military reconnaissance. Especially in complex open environment, such as near-shore transportation or disaster emergency response, the differential unmanned vehicle system needs to have good anti-interference capability and robustness so as to cope with external dynamic disturbance and abnormal conditions possibly occurring in the system. In the actual operation process, the differential unmanned vehicle may cause the performance reduction or the physical quality change of the actuator due to collision, impact or long-term abrasion, and further influence the accuracy and the stability of tracking control. Therefore, a robust control method capable of maintaining tracking performance under the conditions of system damage and external disturbance is needed to improve the applicability and reliability of the differential unmanned vehicle system in the real environment. At present, a great deal of research has been devoted to intelligent unmanned vehicle tracking control algorithm design. However, most of the existing methods are based on the ideal assumption that the system model is accurate and the actuator is completely effective, and cannot fully consider the problem of maintaining the tracking performance under the conditions of reduced performance of the actuator, changed physical quality and the like after physical damage occurs. Especially for typical systems such as differential unmanned vehicles, the dynamic model is relatively complex, under-actuated constraint exists, and when the performance damage or quality parameter change of an actuator occurs, the traditional control method cannot realize effective compensation, so that the tracking precision is reduced and even the system is unstable. Furthermore, while some research attempts have been made to introduce disturbance observers or adaptive control strategies to address system uncertainty, these methods typically require additional sensors or hardware support, not only increasing system complexity and cost, but also limiting their popularization and application in practice. Aiming at the defects in the prior art, the invention provides a robust tracking control method under the condition of performance damage and physical quality damage of an actuator for the differential unmanned aerial vehicle, so that the stability and the tracking precision of tracking can be still maintained under the condition that the differential unmanned aerial vehicle system is subjected to uncertain damage, and the robustness and the practicability of the differential unmanned aerial vehicle system under a real scene are further improved. Disclosure of Invention First, the technical problem to be solved The invention aims to solve the technical problem that in order to solve the application requirements, a robust tracking control method of a differential unmanned vehicle under the condition of damage and quality change of an actuator is required to be provided. Specifically, considering a differential unmanned vehicle, aiming at the condition that the differential unmanned vehicle suffers impact damage to a certain extent during operation, thereby causing the efficiency reduction and physical quality change of an actuator, an anti-damage robust tracking control method for the differential unmanned vehicle is provided. The method does not depend on additional hardware equipment, and realizes dynamic compensation of the performance degradation and quality parameter change of the actuator caused by impact by designing a control strategy with on-line estimation and compensation capability. The method can effectively overcome the defect of poor adaptability of the current differential unmanned vehicle tracking control method in a complex impact collision environment, and has a strong application value in engineering application. (II) technical scheme In order to solve the technical problems, the invention provides a robust tracking control method of a differential unmanned vehicle under the condition of actuator damage and mass change, which comprises the following steps: firstly, establishing a kinematic model and a dynamic model aiming at a differential unmanned vehicle, and qualitatively analyzing the influence of actuator efficiency damage and physical quality damage in the kinematic model and the dynamic model; Secondly, designin