Research And Design Of Motion Control System For Four-wheel Drive Wheeled Mobile Robot

Compared with traditional industrial robots, in the actual complex environments, wheeled mobile robots have very complicated uncertainty and environmental interference. Therefore, the control laws based on the accurate model have a lot of limitations in the practical applications, which will affect the stability of the entire motion control system. Therefore, how to design motion control systems in complex environment for wheeled mobile robots in presence of various uncertainties is still a hot topic in the fields of control and robotics. In this paper four-wheel drive mobile robot is considered as research object and a trajectory tracking control method based on back-stepping robust is designed to improve movement wheeled mobile robot control accuracy.Firstly, on the basis of four-wheel drive wheeled mobile robot mechanism the paper established on the mathematical model of wheeled mobile robot including kinematic model, dynamic model and a driving motor model. Secondly, the thesis design a law of trajectory tracking of kinematic model on the basis of back-stepping control principle for the operating environment structure known wheeled mobile robot, and it proves that the feasibility of the law through the simulation. Lastly, the thesis design a law of trajectory tracking based on robust back-steeping method, taking the mathematical model of wheeled mobile robot into account, for complex operating environment robot. Through the analysis of simulation result in MATLAB and comparing with PID control, it proves that the law designed has better accuracy and stability.Based on these studies, this paper research and design the four-wheel drive wheeled mobile robot, it mainly include the mechanical structure, control system, hardware system and software system. The effectiveness of the motion control system is proved by the results of the system tests.