Active disturbance rejection tracking control of wheeled mobile robots under sliding and slipping conditions

被引：0
|
作者：
Wang L.-L. [1 ]
Dong L.-Y. [1 ]
Ma D. [1 ]
Liu X.-L. [1 ]
Wang H.-R. [1 ]
机构：
[1] College of Electronic Information Engineering, Hebei University, Key Laboratory of Digital Medical Engineering Hebei Province, Baoding, 071002, Hebei
来源：
Dong, Li-Yuan (1152729902@qq.com) | 1600年 / South China University of Technology卷 / 37期
基金：
中国国家自然科学基金;
关键词：
Backstepping method; Extended state observer; Sliding and sliping; Trajectory tracking; Wheeled mobile robots;
D O I：
10.7641/CTA.2019.80974
中图分类号：
学科分类号：
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. © 2020, Editorial Department of Control Theory & Applications. All right reserved.
引用
收藏
页码：431 / 438
页数：7
相关论文
共 15 条
  • [1] Kanayma Y., Kimura Y., Miyazaki F., Et al., A stable tracking control method for an autonomous mobile robot, Proceedings of IEEE International Conference on Robotics and Automation, pp. 384-389, (1990)
  • [2] Chen G., Gao T., Jia Q., Et al., Trajectory tracking control for nonholonomic mobile robots with unknown parameters and bounded disturbance, Control Theory & Applications, 32, 4, pp. 491-496, (2015)
  • [3] Hwang C.L., Wu H.M., Trajectory tracking of a mobile robot with frictions and uncertainties using hierarchical sliding-mode underactuated control, IET Control & Applications, 7, 7, pp. 952-965, (2013)
  • [4] Sun W.C., Tang S.Y., Gao H.J., Et al., Two time-scale tracking control of nonholonomic wheeled mobile robots, IEEE Transactions on Control Systems Technology, 24, 6, pp. 2059-2069, (2016)
  • [5] Wang Z., Li Y., Zhu L., Dual adaptive neural sliding mode control of nonholonomic mobile robot, Journal of Mechanical Engineering, 46, 23, pp. 17-22, (2010)
  • [6] Pang H., Ma B., Adaptive unified controller of arbitrary trajectory tracking for wheeled mobile robots with unknown prameters, Control Theory & Applications, 31, 3, pp. 285-292, (2014)
  • [7] Li Z.J., Deng J., Lu R.Q., Et al., Trajectory-tracking control of mobile robot systems incorporating neural-dynamic optimized model predictive approach, IEEE Transactions on Systems, Man, and Cybernetics: Systems, 46, 6, pp. 740-749, (2016)
  • [8] Park B.S., Yoo S.J., Park J.B., Et al., Adaptive neural sliding mode control of nonholonomic wheeled mobile robots with mobile robots with model uncertainty, IEEE Transactions on Control Systems Technology, 17, 1, pp. 207-214, (2009)
  • [9] Wang D., Lowc B., Modeling and analysis of skidding and slipping in wheeled Mobile robots: Control design perspective, IEEE Transactions on Robotics, 24, 3, pp. 676-687, (2008)
  • [10] Li S.H., Yang J., Chen W.H., Et al., Generalized extended state observer based control for systems with mismatched uncertainties, IEEE Transactions on Industrial Electronics, 59, 12, pp. 4792-4802, (2012)
12