Dynamics model based tracking control for laser guided measuring robot

  • Authors:

  • Wanli Liu;Xinghu Qu;Jianfei Ouyang

  • Affiliations:

  • School of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou;State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin, China;State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin, China

  • Venue:
  • CCDC'09 Proceedings of the 21st annual international conference on Chinese control and decision conference
  • Year:
  • 2009

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Abstract

The kinematics model and dynamics model of laser guided measuring robot (LGMR) are established based on the research on its structure and working principle. In deal with the moving deviation of LGMR caused by the characteristic inconsistent of two independent driving motors, a novel adaptive tracking control algorithm is proposed based on LGMR dynamic model. The control algorithm can compensation the uncertainties and interference of LGMR in real time. The unknown model parameters and disturbance are overcome effectively. Also, the stability of the control algorithm is proved with Lyapunov stability theory. Intensive experimental studies have been presented to confirm the effectiveness of the proposed algorithm; the results show that the control algorithm can be integrated to LGMR and guided it to required destination under automaticity and accuracy constraints, and prove efficiency and correctness of this control algorithm.