A Research Of Mobile Robot Control Based On Active Disturbance Rejection Control

Mobile robot is a kind of unmanned mobile system which includes ground mobile robot,unmanned aerial vehicle,underwater unmanned submarine vehicle,and so on.With the expansion of the application field of mobile robots,research on improving the performance of its control system is of great significance.At the same time,since the extended state observer of active disturbance rejection control(ADRC)can observe disturbance and system state,the control system based on ADRC has excellent anti-disturbance ability.Therefore,this paper chooses omnidirectional mobile robot and quadrotor aerial robot as research objects to study the ADRC based motion control of mobile robot.Firstly,based on the analysis of the motion principle of mobile robot,the kinematics model is established.After that,based on second Lagrange equation and Newton Euler equation,the dynamic model of mobile robot is established,which paves the foundation for later chapters.Then,the ADRC method is introduced and its parameter adjustment principle is discussed.Based on the introduction of virtual control variable to achieve control decoupling,the position and yaw angle ADRC based motion control law design of omnidirectional mobile robot is completed.Based on the analysis of the relationship between attitude angle change rate and angular velocity of unmaned aerial vehicle,the ADRC based flight control law of quadrotor UAV with large angle maneuverability is designed without the assumption of small angle.Then,in MATLIB/Simulink,the designed ADRC based motion control law and the dynamic model of mobile robot are realized,and the numerical simulation experiment with compare group is designed.The performance tests including step response,disturbance rejection ability and robustness of the control system are completed.The experiment of drawing the control system baud diagram and the trajectory tracking experiments of mobile robots are completed.The disturbance and system state estimation experiments of the extended state observer are completed.The experiment results show that the designed control law has good performance.Finally,based on the ADRC based motion control law designed in the previous content,the mobile robot motion control software is designed in real-time operating system.According to the software function,it is divided into different modules.On the basis of analyzing the principle behind each module,the program design of each module is completed.The results of hardware-in-the-loop simulation experiments preliminarily verify the effectiveness of the control software.