Controlling the Turning of a Mobile Car-like Robot

Purpose of research is to solve the problem of the development of the subsystem of automatic control of turnings of an autonomous, mobile car-like robot (autorobot). The main difficulty of solving this problem is due to the non-additivity of the control of nonlinear mathematixal model describing changes of autorobot movement direction.

Methods. The solution of the problem is obtained on the basis of a new algebraic polynomial-matrix synthesis method using a quasi-linear model. The proposed approach makes it possible to obtain an analytical solution to the problem of synthesis of control systems, including nonlinear non-additive objects. The quasi-linear model of the autobot is based on nonlinear equations in state variables.

Results. This article shows the possibility of solving the problem of synthesis of discrete control systems for nonadditive nonlinear objects. On the basis of nonlinear equations describing the robot turning which are non-additive in control, a corresponding quasi-linear model is obtained. Based on this model, a discrete turning control system of an autonomous robot was developed. The results of computer modeling confirm the operability of the autobot's turning control system in offline mode.

Conclusion. A subsystem for controlling turnings of an autobot, which provides the required changes in the direction of its movemen, set by a certain time program is developed. It is shown that the algebraic polynomial-matrix method for the synthesis of control systems using quasi-linear models makes it possible to synthesize discrete control systems with non-additive control objects. To construct quasi-linear models of nonlinear objects, it is necessary for the nonlinearities of objects to be differentiable in all their arguments.

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