INTELLIGENT CONTROL SYSTEM OF MULTI-MOTION MOBILE ROBOT

Abstract

Technical devices with irregular motion are described by complex non-linear differential equations, as they have an uncertain environment. Due to interactions and simplifications in these types of control objects, their mathematical models may have certain errors. For this reason, by known methods, for example, the linear matrix inequality method, Lyapunov's quadratic function, etc. The synthesized automatic control systems (ACS) for dynamic objects written by nonlinear mathematical models based on the quadratic matrix determined by The synthesis of regulators for the management of dynamic objects described in nonlinear and uncertain conditions is based on fuzzy logic theory. Since the controllers synthesized by fuzzy logic are based on knowledge, their application to other objects (robots) is limited. In such systems, it is difficult or not at all to determine the dependencies between ACS quality indicators, stability and object parameters. Taking into account the above, a method of analytically parametric synthesis of regulators that ensures the degree of stability and accuracy in ACS’s designed for fuzzy TS-type dynamic objects is proposed. In the article, the solution to the problem of the synthesis of the control system of the mobile robot was considered, and it was successfully applied in the multi-motion mobile robot system. Modeling and experimental results confirm that the operation and stability of the obtained system fully meet the technical requirements. The proposed method has led to an increase in both tracking and control accuracy during high-speed movements. Keywords: multi-motion mobile robot, mathematical model, mechatronic modules, fuzzy TS model, robust controller, fuzzy logic.