Trajectory tracking control of wheeled mobile robots under side-slip and slip

doi:10.11772/j.issn.1001-9081.2023070898

Journal of Computer Applications ›› 2024, Vol. 44 ›› Issue (7): 2294-2300.DOI: 10.11772/j.issn.1001-9081.2023070898

• Frontier and comprehensive applications • Previous Articles Next Articles

Trajectory tracking control of wheeled mobile robots under side-slip and slip

Ying HU¹^,², Zhihuan CHEN¹^,²()

^1.Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education，（Wuhan University of Science and Technology），Wuhan Hubei 430081，China
^2.Institute of Robotics and Intelligent Systems，Wuhan University of Science and Technology，Wuhan Hubei 430081，China

Received:2023-07-10 Revised:2023-09-15 Accepted:2023-09-19 Online:2023-10-26 Published:2024-07-10
Contact: Zhihuan CHEN
About author:HU Ying， born in 1998， M. S. candidate. His research interests include mobile robot control.
First author contact:CHEN Zhihuan， born in 1989， Ph. D.， associate professor. His research interests include robot dynamics and control， controller design for complex systems.
Supported by:
National Natural Science Foundation of China(62173262)

侧滑和打滑下的轮式移动机器人轨迹跟踪控制

胡映¹^,², 陈志环¹^,²()

^1.冶金自动化与检测技术教育部工程研究中心(武汉科技大学), 武汉 430081
^2.武汉科技大学机器人与智能系统研究院, 武汉 430081

通讯作者: 陈志环
作者简介:胡映（1998—），男，湖北黄冈人，硕士研究生，主要研究方向：移动机器人控制；
第一联系人：陈志环（1989—），男，湖北黄冈人，副教授，博士，主要研究方向：机器人动力学及其控制、复杂系统的控制器设计。
基金资助:
国家自然科学基金资助项目(62173262)

Abstract

Abstract:

Aiming at the problem that traditional sliding mode control is prone to insufficient convergence accuracy and control input jitter due to model uncertainty， external disturbances and other perturbations in trajectory control of Wheeled Mobile Robot （WMR） under unknown side-slipping and slipping disturbances， an Adaptive Second-Order Sliding Mode tracking Control method based on Nonlinear Extended State Observer （ASOSMC-NESO） was proposed. Firstly， the kinematics and dynamics models of the wheeled mobile robot under side-slipping and slipping conditions were established； secondly， the kinematic controller was designed by inverse step method， which provided the virtual velocity for dynamics； then， a nonlinear extended state observer was designed for estimating the total disturbance in response to the external disturbances； and then， the dynamic controller was designed based on the idea of second-order integral sliding mode by combining integral sliding mode with non-singular fast end-sliding mode surface， and the stability analysis of the controller was given. The experimental results show that compared with the first-order sliding mode control method， the maximum value of error of the proposed control method decreases by about 89.53% and 16.28% under linear and nonlinear trajectories， respectively， and the control input is basically unaffected by disturbance. It can be seen that ASOSMC-NESO can effectively improve the control accuracy of WMR under unknown side-slipping and slipping， effectively cut down the jitter， and enhance the robustness of WMR trajectory tracking.

Key words: Wheeled Mobile Robot (WMR), side-slipping and slipping, trajectory tracking, second-order sliding mode, nonlinear extended state observer

摘要：

针对未知侧滑和打滑干扰下轮式移动机器人（WMR）轨迹控制中，存在模型不确定性、外部干扰等扰动导致传统滑模控制易出现收敛精度不足、控制输入抖振的问题，提出一种基于非线性扩展状态观测器的自适应二阶滑模跟踪控制方法（ASOSMC-NESO）。首先建立了侧滑与打滑条件下的轮式移动机器人运动学和动力学模型；其次，由反步法设计运动学控制器，为动力学提供虚拟速度；接着，针对外部干扰设计了非线性扩展状态观测器，以估计总扰动；然后，基于二阶积分滑模的思想将积分滑模和非奇异快速终端滑模面相结合，设计了动力学控制器，并给出了控制器稳定性分析。实验结果表明，对比一阶滑模控制方法，该控制方法误差最大值在线性和非线性轨迹下，分别下降约89.53%和16.28%，而且控制输入基本不受干扰影响。由此可见，ASOSMC-NESO能有效提高WMR在未知侧滑和打滑下的控制精度，并有效削减抖振和提升WMR轨迹跟踪鲁棒性。

关键词: 轮式移动机器人, 侧滑和打滑, 轨迹跟踪, 二阶滑模, 非线性扩展状态观测器

CLC Number:

TP242

Ying HU, Zhihuan CHEN. Trajectory tracking control of wheeled mobile robots under side-slip and slip[J]. Journal of Computer Applications, 2024, 44(7): 2294-2300.

胡映, 陈志环. 侧滑和打滑下的轮式移动机器人轨迹跟踪控制[J]. 《计算机应用》唯一官方网站, 2024, 44(7): 2294-2300.

Figures/Tables 14

Fig. 1 Schematic diagram of wheeled mobile robot

Fig. 2 Schematic diagram of side-slipping and slipping

Fig. 3 Control system block diagram

Tab. 1 Error performance index comparison

轨迹类型	均方误差		误差最大值		误差最小值
轨迹类型	ASMC-NESO	ASOSMC-NESO	ASMC-NESO	ASOSMC-NESO	ASMC-NESO	ASOSMC-NESO
直线轨迹	0.487 0	0.384 1	0.072 6	0.007 6	0	0
圆形轨迹	2.183 7	1.074 9	0.551 6	0.461 8	0	0

Fig. 4 Comparison of straight line trajectory

Fig. 5 Comparison of velocity error under straight line trajectory

Fig. 6 Comparison of torque input under straight line trajectory

Fig. 7 Comparison of circular trajectory

Fig. 8 Comparison of velocity error under circular trajectory

Fig. 9 Comparison of torque input under circular trajectory

Fig. 10 Total disturbance estimation

Fig. 11 Comparison of pose error under sudden change of interference

Fig. 12 Comparison of moment input under sudden change of interference

Tab. 2 Comparison of error performance indexes under sudden change of interference

跟踪误差	ISE		IAE		ITAE
跟踪误差	ASOSMC	ASOSMC-NESO	ASOSMC	ASOSMC-NESO	ASOSMC	ASOSMC-NESO
x_e/m	0.874 4	0.773 8	5.805 7	3.262 6	47.834 0	23.838 7
y_e/m	3.006 0	2.937 7	10.762 9	10.345 9	99.571 4	83.150 0
θ_e/rad	1.236 9	1.222 9	4.884 9	3.578 1	29.591 1	17.432 5

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Trajectory tracking control of wheeled mobile robots under side-slip and slip

侧滑和打滑下的轮式移动机器人轨迹跟踪控制

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