摘要
针对复杂环境下轮式移动机器人(WMR)工作时受参数不确定性以及未知外部扰动的问题,提出一种基于扩张状态观测器的移动机器人轨迹跟踪控制方法。首先推导了轮式移动机器人的运动学及动力学模型,在此基础上引入广义扩张状态观测器(GESO)的控制策略对系统未知状态及不确定项进行实时估计与补偿,实现了系统对扰动的鲁棒性和对环境的高度适应性。并利用Lyapunov理论证明了系统的稳定性。仿真实验验证了所提出的控制方法能使移动机器人系统具有良好的跟踪控制性能和较强的鲁棒性能。
To track the desired trajectories of the wheeled mobile robot (WMR) in the complex environment with parameter uncertainty and unknown external disturbance, a generalized extended state observer (GESO) tracking algorithm is proposed for the WMR system. Firstly, kinematic and dynamic models of the mobile robot are derived. Then, the GESO is adopted to design a robust tracking controller at kinematic and dynamic level in order to realize the estimation and compensation of the parameter uncertainty and unknown disturbance. Finally, the asymptotical stability of system is proved based on Lyapunov theory. The simulation experiments show that the system designed based on GESO control theory provides good tracking ability and strong robustness.
作者
张玲
Zhang Ling(Department of Automation, Chongqing Industry Polytechnic College, Chongqing 401120)
出处
《高技术通讯》
EI
CAS
北大核心
2019年第6期607-613,共7页
Chinese High Technology Letters
基金
重庆市重点研发(cstc2017rgzn-zdyf0073)
重庆市教委(KJQN201803204)资助项目
