Journal of Computer Applications ›› 2018, Vol. 38 ›› Issue (5): 1517-1522.DOI: 10.11772/j.issn.1001-9081.2017102505

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Active disturbance rejection control for mobile robot with skidding and slipping

LUO Rui, SHI Wuxi, LI Baoquan   

  1. School of Electrical Engineering and Automation, Tianjin Polytechnic University, Tianjin 300387, China
  • Received:2017-10-23 Revised:2017-11-30 Online:2018-05-10 Published:2018-05-24
  • Contact: 罗蕊
  • Supported by:
    This work is partially supported by the National Natural Science Foundation of China (61603271).


罗蕊, 师五喜, 李宝全   

  1. 天津工业大学 电气工程与自动化学院, 天津 300387
  • 通讯作者: 罗蕊
  • 作者简介:罗蕊(1993-),女,甘肃天水人,硕士研究生,主要研究方向:机器人控制;师五喜(1964-),男,天津人,教授,博士,主要研究方向:智能控制、机器人控制;李宝全(1986-),男,天津人,副教授,博士,主要研究方向:计算机视觉、移动机器人。
  • 基金资助:

Abstract: The trajectory tracking of wheeled mobile robots with skidding and slipping disturbance was studied. Firstly, based on the kinematics model of the robot, an auxiliary kinematic controller was designed to make the auxiliary speed of the robot asymptotically converge to desired speed. Then based on dynamics model, a first-order Linear Active Disturbance Rejection Control (LADRC) was proposed by using back stepping technique, an Extended State Observer (ESO) was used to estimate and compensate for the skidding and slipping disturbance during operation, so that the actual speed of the robot converged to auxiliary speed, which could make the trajectory error to asymptotically converge to zero. The effectiveness of the proposed approach to reject skidding and slipping disturbance of wheeled mobile robot was verified by simulation and experiment.

Key words: wheeled mobile robot, trajectory tracking, back stepping control, skidding and slipping disturbance, Linear Active Disturbance Rejection Control (LADRC)

摘要: 对存在侧滑和滑移干扰问题的轮式移动机器人轨迹跟踪问题进行研究。首先利用移动机器人系统的运动学模型,通过设计其辅助运动学控制器,使得机器人的辅助速度渐近收敛到期望速度;然后利用反步法思想设计了基于动力学模型的一阶线性自抗扰控制(LADRC),通过扩张状态观测器(ESO)实时估计和补偿机器人运行过程中的侧滑和滑移干扰,使得机器人的实际速度渐近收敛到辅助速度;最终使得移动机器人的轨迹误差渐近趋近于零。通过仿真及实验验证了所设计方法的有效性。

关键词: 轮式移动机器人, 轨迹跟踪, 反步控制, 侧滑和滑移干扰, 线性自抗扰控制

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