Passivity-based active disturbance rejection control of an omni-directional mobile robot

被引：0
|
作者：
Ma S.-G. [1 ]
Zhao J.-L. [1 ]
Ren C. [1 ]
机构：
[1] School of Electrical and Information Engineering, Tianjin University, Tianjin
来源：
Kongzhi yu Juece/Control and Decision | 2018年 / 33卷 / 06期
关键词：
Active disturbance rejection control; Mobile robot; Passivity; Trajectory tracking;
D O I：
10.13195/j.kzyjc.2017.0114
中图分类号：
学科分类号：
摘要：
In order to solve the problem of external disturbances and system parameter uncertainties in the trajectory tracking of an omni-directional mobile robot, a passivity-based active disturbance rejection control method is proposed. Firstly, the system disturbances are estimated by the extended state observer, then the disturbance compensations are added in an controller to eliminate the influence of external disturbances and parameter uncertainties in the system. By using the passivity theory and Lyapunov theory, it is proved that the closed-loop system is a bounded input, bounded output stable system. The simulation results show that the proposed control method has fast response speed, high control precision and strong robustness to external disturbances and uncertainties of model parameters. © 2018, Editorial Office of Control and Decision. All right reserved.
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页码：1081 / 1086
页数：5
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