Authors G.E. Veselov, A.A. Scliarov, S.A. Scliarov
Month, Year 04, 2012 @en
Index UDC 621.86.033:004.896
Abstract This paper explores the problem of synthesis of synergetic control of trajectory movement of mobile tracked robot. To solve this problem in article presents new approach to tracked mobile robot control based on principals and methods of synergetic control theory. In this paper application of tracked chassis conditioned by it high passability, which is reached by having a sufficiently large area of adhesion with surface. The task of the synergistic synthesis of spatial control system of tracked mobile robot is considered with the analysis of mathematic model and specifics of tracked chassis rotation. In the theory of synergetic control the set of criteria for the control system is usually expressed in the form of an appropriate system of invariants. Invariants play the role of control objectives, they enforced a given technological problem, and the synergetic synthesis procedure reduces to process of finding control laws, which these given invariants are satisfied. At this paper as imposed condition on synthesized control law, serve an asymptotically stable motion of the robot along a given trajectory and constancy of contour speed.

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Keywords Mobile robot; tracked chassis; invariants; trajectory movement; synergetic control theory.
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