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Method of decomposition in mobile robot control. (English. Russian original) Zbl 1229.93027
Autom. Remote Control 72, No. 10, 2084-2099 (2011); translation from Avtom. Telemekh. 2011, No. 10, 86-103 (2011).
Summary: A complex of the problems of controlling the mobile wheel robots is solved in various formulations. A methodology of designing the generator of realizable driving actions is developed, that is, the question of feasibility analysis of the given trajectory stands no longer. Developed is a two-level decomposition procedure for designing a control system of the mobile two-wheel robot driving it to the desired trajectory and then along it with the prescribed velocity. Forced equation relating the linear and angular deviations enable a reduction of the design problem to elementary subproblems where the dimensions of the state vectors and controls coincide. Sliding-mode observers are used for informational support of the basic control laws, which enables one to establish the current estimates of the functional components and exogenous disturbances and simplifies substantially the computer-aided realization of the control algorithms. The results of modeling corroborate efficiency of the developed algorithms.

MSC:
93B11 System structure simplification
68T40 Artificial intelligence for robotics
93C85 Automated systems (robots, etc.) in control theory
93B07 Observability
93B12 Variable structure systems
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