Trajectory Tracking Of Mobile Robot Based On Active Disturbance Rejection Control

In recent years,with the development of robot technology,the control problems of the wheeled robot have become the current research hotspot.The trajectory tracking problem of mobile robot is the focus of robot control.The wheeled mobile robot is a typical nonholonomic system,which has a wide application prospect.In this thesis,the linear active disturbance rejection control method is used to study the trajectory tracking problem of two wheeled differential mobile robot.Firstly,assuming that the mobile robot running road is smooth without considering the skidding and slipping,considering the internal and external unknown disturbances of mobile robot system,design active disturbance rejection control of mobile robot based on the method of backstepping control.The effectiveness of proposed approach for wheeled mobile robot is verified by simulation experiment.Considering the influence of input saturation on the robot system,an anti saturation method based on error compensation is designed based on the linear active disturbance rejection control of mobile robot,and the purpose of anti saturation is achieved by adjusting the parameters of saturation actuator.The effectiveness of the anti saturation method for the input limited conditions of the mobile robot is verified by simulation.Secondly,the trajectory tracking of wheeled mobile robot with skidding and slipping is studied.Based on the kinematics model of the robot under the condition that there is a distance between the mass center and the geometrical center,the auxiliary kinematic controller is designed to make the auxiliary speed of the robot asymptotically converge to the desired speed.Then based on dynamics model,a first-order linear active disturbance rejection control is proposed by using backstepping technique,the extended state observer is used to estimate and compensate for the skidding and slipping disturbances during operation,and the actual speed of the robot converges to the auxiliary speed,which can make the trajectory error asymptotically converge to zero.The effectiveness of proposed approach for skidding and slipping of wheeled mobile robot is verified by simulation.Finally,the designed control method in this thesis is verified in the mobile robot experimental platform Qbot2.The effectiveness of the proposed control method is verified by experiments.