基于双曲正切视线制导的轮式移动机器人目标跟踪自抗扰控制  

Active disturbance rejection control for target tracking of wheeled mobile robot based on hyperbolic-tangent line-of-sight guidance

作　　者：刘小松[1] 朱焕海 单泽彪[1,2] 苏成志 Liu Xiaosong;Zhu Huanhai;Shan Zebiao;Su Chengzhi(School of Electronic and Information Engineering,Changchun University of Science and Technology,Changchun 130022,China;Joint School-Enterprise Technological Innovation Laboratory of Jilin Province for Intelligent Composite Robot,Changchun University of Science and Technology,Changchun 130022,China)

机构地区：[1]长春理工大学电子信息工程学院,长春130022 [2]长春理工大学智能复合机器人吉林省校企联合技术创新实验室,长春130022

出　　处：《仪器仪表学报》2024年第12期201-209,共9页Chinese Journal of Scientific Instrument

基　　金：吉林省教育厅产业化培育项目(JJKH20240940CY)资助。

摘　　要：为提高轮式移动机器人(WMR)在复杂环境中应对侧滑和打滑干扰的目标跟踪能力,提出了一种基于双曲正切视线制导策略的自抗扰控制方法。首先,通过分析WMR的侧滑和打滑现象建立了扰动下WMR的运动学和动力学模型;其次,给出了一种基于分区切换机制的双曲正切视线制导策略以提高跟踪的动态响应能力;随后,基于WMR的动力学模型设计自抗扰控制算法,利用扩张状态观测器估计侧滑和打滑等未知干扰,实现目标跟踪任务。仿真和实车实验结果表明,本文方法在复杂环境中具有更高的跟踪精度和更强的抗干扰能力。实际测试中WMR在遭受模拟打滑试验后可快速地恢复到目标跟踪行进轨迹,且跟踪误差稳定于0.025 m以内,验证了所提方法的有效性。To enhance the target tracking capability of wheeled mobile robots(WMR)in complex environments,addressing disturbances from sideslip and slippage,this paper proposes a self-adaptive disturbance rejection control method based on a hyperbolic tangent line-of-sight guidance strategy.First,by analyzing the sideslip and slippage phenomena of WMR,a kinematic and dynamic model of WMR under disturbances is established.Then,a hyperbolic tangent line-of-sight guidance strategy based on a partition switching mechanism is proposed to improve the dynamic response capability of tracking.Subsequently,a self-adaptive disturbance rejection control algorithm is designed based on the dynamics of the WMR,utilizing an extended state observer to estimate unknown disturbances such as sideslip and slippage,achieving the target tracking task.Simulation and real-world experimental results show that the proposed method offers higher tracking accuracy and stronger disturbance rejection capability in complex environments.In actual tests,WMR quickly returned to the target tracking path after simulated slippage tests,with tracking errors stabilized within 0.025 meters,verifying the effectiveness of the proposed method.To enhance the target tracking capability of wheeled mobile robots(WMR)in complex environments,particularly in the presence of disturbances such as sideslip and slippage,this paper proposes a self-adaptive disturbance rejection control method based on a hyperbolic tangent line-of-sight guidance strategy.First,by analyzing the sideslip and slippage phenomena of WMR,a kinematic and dynamic model of WMR under disturbances is established.Then,a hyperbolic tangent line-of-sight guidance strategy based on a partition switching mechanism is proposed to improve the dynamic response capability of tracking.Subsequently,a self-adaptive disturbance rejection control algorithm is designed,leveraging the dynamics of the WMR and employing an extended state observer to estimate and compensate for unknown disturbances such as sideslip and slippag

关 键 词：轮式移动机器人 目标跟踪 双曲正切视线制导策略 扩张状态观测器 自抗扰控制 

分 类 号：TH134[机械工程—机械制造及自动化] TP273[自动化与计算机技术—检测技术与自动化装置]