| 引用本文: | 王立玲,董力元,马东,刘秀玲,王洪瑞.滑动与打滑条件下的轮式移动机器人自抗扰跟踪控制[J].控制理论与应用,2020,37(2):431~438.[点击复制] |
| WANG Li-yuan,DONG Li-yuan,MA Dong,LIU Xiu-ling,WANG Hong-rui.Active disturbance rejection tracking control of wheeled mobile robots under sliding and slipping conditions[J].Control Theory and Technology,2020,37(2):431~438.[点击复制] |
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| 滑动与打滑条件下的轮式移动机器人自抗扰跟踪控制 |
| Active disturbance rejection tracking control of wheeled mobile robots under sliding and slipping conditions |
| 摘要点击 3145 全文点击 1053 投稿时间：2018-12-14 修订日期：2019-04-07 |
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| DOI编号 10.7641/CTA.2019.80974 |
| 2020,37(2):431-438 |
| 中文关键词 轮式移动机器人 轨迹跟踪 滑动与打滑 线性扩张观测器 反步法 |
| 英文关键词 wheeled mobile robots trajectory tracking sliding and sliping linear extended state observer backstepping method |
| 基金项目 国家自然科学基金 |
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| 中文摘要 |
| 针对具有未知的滑动与打滑的轮式移动机器人（Wheeled mobile robots，WMR），提出了一种基于自抗扰思想的跟踪控制策略。首先建立了滑动与打滑条件下的轮式移动机器人动力学模型。其次，由反步法设计运动学控制器，基于模型设计线性扩张观测器和动力学控制器，并给出了控制器稳定性分析。最后与积分滑模控制进行了仿真对比，结果表明该控制方法的误差收敛速度更快，观测器能够精确估计滑动与打滑及动力学不确定性对机器人的扰动，提高了轮式移动机器人轨迹跟踪的鲁棒性。 |
| 英文摘要 |
| A tracking control strategy based on active disturbance rejection is proposed for wheeled mobile robots (WMR) with unknown sliding and slipping. Firstly, the dynamic model of wheeled mobile robot under sliding and slipping conditions is established. Secondly, the kinematics controller is designed by the backstepping method. The linear expansion observer and the dynamic controller are designed based on the model, and the stability analysis of the controller is given. Finally, the simulation is compared with the integral sliding mode control. The results show that the error convergence speed of the control method is faster. The observer can accurately estimate the disturbance of the sliding and slip and dynamic uncertainty on the robot.The control method improves the trajectory tracking of the wheeled mobile robot robustness. |