滑动与打滑条件下的轮式移动机器人自抗扰跟踪控制

针对具有未知的滑动与打滑的轮式移动机器人(WMR),提出了一种基于自抗扰思想的跟踪控制策略.首先建立了滑动与打滑条件下的轮式移动机器人动力学模型.其次,由反步法设计运动学控制器,基于模型设计线性扩张观测器和动力学控制器,并给出了控制器稳定性分析.最后与积分滑模控制进行了仿真对比,结果表明该控制方法的误差收敛速度更快.观测器能够精确估计滑动与打滑及动力学不确定性对机器人的扰动,提高了轮式移动机器人轨迹跟踪的鲁棒性.

Active disturbance rejection tracking control of wheeled mobile robots under sliding and slipping conditions

A tracking control strategy based on active disturbance rejection is proposed for wheeled mobile robots (WMR) with unknown sliding and slipping. Firstly, the dynamic model of wheeled mobile robot under sliding and slipping conditions is established. Secondly, the kinematics controller is designed by the backstepping method. The linear expansion observer and the dynamic controller are designed based on the model, and the stability analysis of the controller is given. Finally, the simulation is compared with the integral sliding mode control. The results show that the error convergence speed of the control method is faster. The observer can accurately estimate the disturbance of the sliding and slip and dynamic uncertainty on the robot.The control method improves the trajectory tracking of the wheeled mobile robot robustness.