针对存在多种不同类型干扰的非完整轮式移动机器人，提出了一种复合分层抗干扰跟踪控制策略。通过引入直流电机模型，分别设计了非线性干扰观测器(nonlinear disturbance observer，NDO)和扩张状态观测器(extended state observer，ESO)来估计摩擦、空气阻力以及负载变化引起的参数不确定等不同类型扰动。随后，基于观测器估计值设计反馈控制器来跟踪期望速度。在整体控制方案中，运动学控制器位于外环，为轮式移动机器人的内环控制器提供所需的期望速度指令。最后，仿真验证了所提方法的有效性。
Composite hierarchical anti-disturbance trajectory tracking control of wheeled mobile robot
A composite hierarchical anti-disturbance tracking control strategy was proposed for nonholonomic wheeled mobile robots with different types of disturbances.Nonlinear disturbance observer(NDO)and extended state observer(ESO)were separately designed to estimate various disturbances,including friction,air resistance,and parameter uncertainty caused by load change by introducing a direct current motor model.Subsequently,feedback controller was employed to track the desired velocity based on the estimated values of observers.In this overall control scheme,the kinematic controller was located in the outer loop to provide the desired velocity commands to the inner loop controller of the wheeled mobile robot.Finally,simulations demonstrate the effectiveness of the proposed approach.
wheeled mobile robotnonlinear disturbance observerextended state observerparameter uncertainty
万方数据
维普
