基于位移PID-速度ADRC的轨迹跟随控制
Trajectory Following Control Based on Displacement PID Velocity ADRC
严子健 1刘淑坤 1邹翠珊 1刘冠键 1李艳洲1
作者信息
摘要
路径跟踪在移动机器人控制中具有重要的作用,文章针对差速轮移动机器人的轨迹跟踪控制问题,提出了一种综合纵向控制和横向控制的方法.纵向控制包括纵向位置控制和速度控制,其中纵向位置控制采用PID控制器,通过计算实际位置与期望位置之间的差异,生成适当的控制信号,从而实现位置的调节和速度补偿.而速度控制采用自抗扰控制,引入扰动观测器和补偿器,对外界扰动进行实时估计和补偿,提高系统的鲁棒性和抗干扰能力.横向控制采用纯跟踪算法,具有简单易行、实时性好的特点,能够实现机器人与目标轨迹的高精度跟踪.试验结果表明,文章所提出的控制方法表现出优秀的性能和鲁棒性,适用于差速轮移动机器人的轨迹跟踪应用.
Abstract
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.
关键词
移动机器人/路径跟随/自抗扰控制/纯跟踪Key words
mobile robots/path following/self disturbance rejection control/pure tracking引用本文复制引用
出版年
2024
NETL
NSTL
万方数据