轮式移动机器人轨迹跟踪控制研究

Research on trajectory tracking control of wheeled mobile robot

针对轮式移动机器人参数摄动和内外部扰动等问题,提出一种新型的基于自适应扩张状态观测器的滑模控制算法。采用自适应虚拟速度控制器估计系统未知参数,滑模控制器抑制参数摄动和内外部扰动,非线性扩张状态观测器观测系统扰动并减小控制输入的抖振,实现了轨迹跟踪误差的快速收敛。利用Lyapunov稳定性理论证明了控制算法的稳定收敛性。将所提算法与传统自适应反演滑模算法进行对比,对比结果表明了所提算法的有效性和鲁棒性。

Aiming at the problems of parameter perturbation and internal and external disturbances of wheeled mobile robots, a novel sliding mode control algorithm based on adaptive extended state observer is proposed. An adaptive virtual velocity controller is used to estimate unknown parameters of the system, a sliding mode controller is used to suppress parameter perturbations and internal and external disturbances, and a nonlinear extended state observer is used to observe system perturbations and reduce the chattering of the control inputs, so the trajectory tracking error is rapidly converging. Lyapunov theory is adopted to prove the stable convergence of the control system. The proposed algorithm is compared with the traditional adaptive inversion sliding mode algorithm, and the results show the effectiveness and robustness of the proposed control strategy.