Disturbance Rejection Control Technology for Four-wheel Mobile Robots Under Lateral Pushing and Shoving
Four wheeled mobile robots may experience instability,deviation from predetermined trajectories or loss of balance when disturbed by external forces.In order to improve the stability and anti-interference ability of the robot,a four-wheel mobile robot operation control anti-interference control method is proposed under lateral pushing.By setting the robot parameters affected by lateral pushing,the conditions that the robot needs to meet to complete the active side sway are analyzed,and the gait of the robot during the active side sway is designed to maintain the stability of the fuselage.The experimental results show that the trajectory tracking of this method is relatively accurate.When controlling a four-wheel mobile robot,the torque changes of the left and right wheels are relatively small,and the anti-interference control performance is good.
four-wheel robotslateral pushing and shovinganti disturbance controldynamic parametersability control
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