Trajectory Following Control Based on Displacement PID Velocity ADRC
Path tracking plays an important role in the control of mobile robots.This paper proposes a comprehensive longitudinal and lateral control method for trajectory tracking control of differential wheel mobile robots.Vertical control includes vertical position control and speed control.The longitudinal position control adopts a PID controller,which calculates the difference between the actual position and the desired position to generate appropriate control signals,thereby achieving position adjustment and speed compensation.The speed control adopts self disturbance rejection control,introducing disturbance observers and compensators to estimate and compensate for external disturbances in real time,improving the robustness and anti-interference ability of the system.The lateral control adopts a pure tracking algorithm,which has the characteristics of simplicity and good real-time performance,and can achieve high-precision tracking of robot and target trajectories.Finally,through experimental verification,the proposed control method exhibits excellent performance and robustness,and is suitable for trajectory tracking applications of differential wheel mobile robots.
mobile robotspath followingself disturbance rejection controlpure tracking
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