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Research On Active Disturbance Rejection Control Of Wheeled Robot System

Posted on:2017-01-10Degree:MasterType:Thesis
Country:ChinaCandidate:X Z FanFull Text:PDF
GTID:2308330503482587Subject:Control engineering
Abstract/Summary:PDF Full Text Request
The nonholonomic wheeled mobile robot has been an important subject of research and development in automatization field, and trajectory tracking control is an essential technology for a wheeled mobile robot, therefore, the study of it has great theoretical value and practical significance. At present, the research for a wheeled mobile robot system is not mature, especially the unknown nonlinear problems exist in the system, and its research has become more difficult. According to the above problems, this paper introduced the active disturbance rejection control method, and carried out relevant research the trajectory tracking control problem of a wheeled mobile robot.Firstly, aiming at the tracking control problem of a wheeled mobile robot in the simple environment, taking into account the wheeled mobile robot system with nonlinear factors such as internal and external disturbance situation, designing a robust tracking controller based on the active disturbance rejection control, in order to realize the task of tracking control system is given. By the Lyapunov stability theory, we obtain the sufficient condition for the system to achieve the global uniform stability. Finally, the simulation results verify the rationality and effectiveness of the proposed control scheme.Secondly, under the same control tasks stated above, in order to complete the control tasks of a wheeled mobile robot system with nonlinear factors such as internal and external disturbance, and proposed the robust tracking control algorithm based on an adaptive extended state observer. The adaptive extended state observer is used to estimate the nonlinear factors existing in the system. Designing the Lyapunov function, we give the corresponding closed-loop system stability analysis. Finally, simulations are carried out to verify the effectiveness of the proposed control algorithm.Moreover, considering the tracking control problem for a wheeled mobile robot under the condition of control input constraints, introducing the classical saturation function, and designing the saturated tracking control law based on the active disturbance rejection control, the designed saturation tracking control law realizes a given trajectory tracking control task of a wheeled mobile robot with input saturation. By means of the Lyapunov stability theory, the stability of the closed-loop systems is analyzed and proved. Finally, the tracking control of the linear and circular trajectory is achieved, respectively. Simulation results verify the effectiveness of the proposed controller.Lastly, aiming at the obstacle avoidance and tracking control problem of a wheeled mobile robot in the complex motion environment, using artificial potential field method, and designing obstacle avoidance and tracking control scheme based on the active disturbance rejection control method. The corresponding theoretical analysis is given, and proves the effectiveness of the proposed control scheme. In the Matlab environment, the obstacle avoidance and tracking control simulation is carried out for the linear and circular trajectory. The simulation results show that the proposed control scheme in this paper not only improves the tracking accuracy but also has strong robustness comparing with the traditional PD control method.
Keywords/Search Tags:wheeled mobile robot, active disturbance rejection control, trajectory tracking, input saturation, obstacle avoidance
PDF Full Text Request
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