基于改进LADRC的全向移动机器人轨迹跟踪控制

Trajectory Tracking Control of Omni-directional Mobile Robot Based on Modified LADRC

针对全向移动机器人的控制问题,设计了一种具有抗扰性能的轨迹跟踪控制方法。首先,针对全向移动机器人的解耦控制建立了运动学和动力学模型。然后,基于运动学模型设计反演控制器,该控制器通过给定期望速度辅助机器人完成轨迹跟踪。此外,还建立了基于动力学模型的线性扩张状态观测器,并使用改进Sigmoid函数对线性自抗扰控制律进行了优化,从而使机器人的实际速度能够迅速而精确地收敛到预定速度。最后,通过仿真研究证实了所提出的控制方法的有效性。

To solve the control problem of an omnidirectional mobile robot,a trajectory tracking control method with disturbance rejection is developed.Firstly,kinematic and dynamic models for the decoupling control of the omni-directional mobile robot are improved.The kinematic model is then used to create the back-stepping controller,which assists the robot to complete the trajectory tracking by giving the expected speed.Additionally,a dynamic model-based linear extended state observer is set up,and the linear active disturbance rejection control law is optimized using an improved sigmoid function,so that the robot's actual speed can rapidly and precisely converge to the intended speed.Finally,simulation studies are used to confirm the effectiveness of the suggested control approach.