滑动与打滑条件下的轮式移动机器人自抗扰跟踪控制
Active disturbance rejection tracking control of wheeled mobile robots under sliding and slipping conditions
摘要点击 75  全文点击 117  投稿时间:2018-12-14  修订日期:2019-04-07
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DOI编号  10.7641/CTA.2019.80974
  2020,37(2):431-438
中文关键词  轮式移动机器人  轨迹跟踪  滑动与打滑  线性扩张观测器  反步法
英文关键词  wheeled mobile robots  trajectory tracking  sliding and sliping  linear extended state observer  backstepping method
基金项目  国家自然科学基金
学科分类代码  
作者单位E-mail
王立玲 河北大学电子信息工程学院 wll_betty@126.com 
董力元 河北大学电子信息工程学院 1152729902@qq.com 
马东 河北大学电子信息工程学院  
刘秀玲 河北大学电子信息工程学院  
王洪瑞 河北大学电子信息工程学院  
中文摘要
      针对具有未知的滑动与打滑的轮式移动机器人(Wheeled mobile robots,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。
英文摘要
      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.