移动机器人的线性自抗扰控制设计与实验验证

Design and implementation of linear active disturbance rejection control for mobile robots

为了实现移动机器人的高精度轨迹跟踪控制,设计了一种基于扩张状态观测器的扰动抑制方法和相应的实验验证平台.首先,考虑到不确定扰动如车轮纵向和侧向滑动对移动机器人系统控制性能的影响,建立了受扰下的运动学模型;然后,基于扩张后的运动学模型设计了扩张状态观测器来估计系统扰动;接着,利用扰动估计构建了线性自抗扰控制器,并利用Lyapunov函数证明了闭环系统的稳定性;同时,基于MATLAB/Simulink软件和微控制器搭建了所推荐控制算法的实验验证平台.最后,仿真和实验结果都验证了所提出控制方法的有效性.

To address the high-precision trajectory tracking problem of a wheeled mobile robot(WMR), a perturbation suppression method based on an extended state observer(ESO) and the corresponding test platform are constructed. Firstly,considering unknown skidding and slipping disturbances, the kinematics model of WMR is established. Secondly, according to the extended kinematics model, the ESO is developed to estimate the disturbances. Next, a linear active disturbance rejection control(LADRC) approach is devised under the aid of disturbance estimations. The stability of the closed-loop system is also given by a Lyapunov function. Meanwhile, the experimental platform is set up by using MATLAB/Simulink software and microcontroller. Finally, the results verify the effectiveness of the proposed control method.