基于改进LADRC的全向移动机器人轨迹跟踪控制  

Trajectory Tracking Control of Omni-directional Mobile Robot Based on Modified LADRC

作　　者：田运阳 宋保业 吴尤 许琳[2] TIAN Yunyang;SONG Baoye;WU You;XU Lin(College of Electrical Engineering and Automation,Shandong University of Science and Technology,Qingdao 266590,China;College of Energy and Mining Engineering,Shandong University of Science and Technology,Qingdao 266590,China)

机构地区：[1]山东科技大学电气与自动化工程学院,山东青岛266590 [2]山东科技大学能源与矿业工程学院,山东青岛266590

出　　处：《控制工程》2024年第9期1593-1600,共8页Control Engineering of China

基　　金：国家自然科学基金资助项目(61703242);山东省自然科学基金资助项目(ZR2023MF067)。

摘　　要：针对全向移动机器人的控制问题,设计了一种具有抗扰性能的轨迹跟踪控制方法。首先,针对全向移动机器人的解耦控制建立了运动学和动力学模型。然后,基于运动学模型设计反演控制器,该控制器通过给定期望速度辅助机器人完成轨迹跟踪。此外,还建立了基于动力学模型的线性扩张状态观测器,并使用改进Sigmoid函数对线性自抗扰控制律进行了优化,从而使机器人的实际速度能够迅速而精确地收敛到预定速度。最后,通过仿真研究证实了所提出的控制方法的有效性。To solve the control problem of an omnidirectional mobile robot,a trajectory tracking control method with disturbance rejection is developed.Firstly,kinematic and dynamic models for the decoupling control of the omni-directional mobile robot are improved.The kinematic model is then used to create the back-stepping controller,which assists the robot to complete the trajectory tracking by giving the expected speed.Additionally,a dynamic model-based linear extended state observer is set up,and the linear active disturbance rejection control law is optimized using an improved sigmoid function,so that the robot's actual speed can rapidly and precisely converge to the intended speed.Finally,simulation studies are used to confirm the effectiveness of the suggested control approach.

关 键 词：全向移动机器人 轨迹跟踪 线性自抗扰 改进Sigmoid函数 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]