移动机器人轨迹跟踪快速终端滑模自抗扰控制  

Fast Terminal Sliding Mode Active Disturbance Rejection Control for Trajectory Tracking of Mobile Robot

作　　者：江道根[1] 吕龙进 潘世华[1] 李均恒[1] JIANG Dao-gen;LV Long-jin;PAN Shi-hua;LI Jun-heng(School of Information and Intelligent Engineering,Ningbo City College of Vocational Technology,Ningbo 315100,China;College of finance&information,Ningbo University of Finance&Economics,Ningbo 315327,China)

机构地区：[1]宁波城市职业技术学院信息与智能工程学院,浙江宁波315100 [2]宁波财经学院金融与信息学院,浙江宁波315327

出　　处：《控制工程》2022年第1期91-100,共10页Control Engineering of China

基　　金：国家自然科学基金青年基金资助项目(11801288);宁波城市职业技术学院重点科技课题基金资助项目(HZH19005)。

摘　　要：针对移动机器人动力学模型难以精确建立、运动过程中各种干扰对高精度轨迹跟踪造成偏航等问题,构造出一种快速终端滑模自抗扰控制器,实现了高速高精度轨迹跟踪控制目标。首先建立非完整移动机器人的干扰控制模型;然后运用扩张状态观测器实时监测系统未建模动态与各种干扰;同时将扩张状态量和系统反馈量作为快速终端滑模算法的系统变量;最后设计出一种快速终端滑模控制律,代替传统自抗扰算法中的非线性控制律,从而实现位姿的快速精确跟踪。该算法既克服了非线性误差控制律中参数繁杂不易整定的缺陷,又增强了系统鲁棒性和轨迹跟踪的动态品质。对比仿真实验验证了该控制算法的有效性和先进性。Aiming at the problems that the dynamic model of the mobile robot is difficult to establish accurately,and various disturbances in the movement process cause yaw to the high-precision trajectory tracking,a fast terminal sliding mode active disturbance rejection controller is constructed,which realizes the high-speed and high-precision trajectory tracking control target.Firstly,the disturbance control model of nonholonomic mobile robot is established.Then,the extended state observer is used to monitor the unmodeled dynamics and various disturbances in real time.At the same time,the extended state variables and the system feedback variables are taken as the system variables of the fast terminal sliding mode algorithm,and a fast terminal sliding mode control law is designed to replace the nonlinear control law in the traditional ADRC to realize the fast and accurate pose tracking.The algorithm not only overcomes the defects of complex parameters in nonlinear error control law,but also enhances the system robustness and dynamic quality of trajectory tracking.The simulation results show that the proposed control algorithm is effective and advanced.

关 键 词：移动机器人 自抗扰控制 快速终端滑模算法 轨迹跟踪 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]