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Research On Trajectory Tracking Control Of Mobile Robot Based On Disturbance Observer

Posted on:2020-07-03Degree:MasterType:Thesis
Country:ChinaCandidate:J X YanFull Text:PDF
GTID:2438330575953888Subject:Control engineering
Abstract/Summary:PDF Full Text Request
This thesis focuses on the trajectory tracking control of the wheeled mobile robot in presence of wheel skidding and slipping,unknown center of mass,and external disturbances.Based on two different mobile robot models,the mobile robot trajectory tracking controller is designed.The main research work of the thesis is as follows:(1)Based on nonholonomic constrained model of wheeled mobile robots in absence of wheel skidding and slipping,an adaptive fast nonsingular terminal sliding model control method is used to design a controller for trajectory tracking of wheeled mobile robots with the unknown center of mass and external disturbances,the disturbance observer is used to estimate external disturbance.It is proved that all the signals in the closed-loop system are bounded and that the tracking error converges to zero in finite time.Simulation and experiment results demonstrate the effectiveness of the proposed scheme.(2)Based on the wheeled mobile robot model in presence of wheel skidding and slipping,an adaptive terminal sliding mode trajectory tracking controller is designed,the wheel skidding and slipping disturbances are estimated online and compensation by disturbance observer.It is proved that all the signals in the closed-loop system are bounded and that the tracking error converges to zero in finite time.Simulation and experiment results demonstrate the effectiveness of the proposed scheme.(3)Based on nonholonomic dynamic model of wheeled mobile robots in absence of wheels skidding and slipping,an adaptive integral terminal sliding mode controller is designed to solve the trajectory tracking problem of wheeled mobile robot with unknown center of mass,external disturbances are estimated online using an extended state observer.It is proved that all the signals in the closed-loop system are bounded and that the tracking error converges to zero in finite time.Simulation and experiment results demonstrate the effectiveness of the proposed scheme.(4)Considering the wheeled mobile with skidding and slipping,on the basis of the mobile robot model with wheel skidding and slipping,an improved integral terminal sliding mode control approach is proposed for trajectory tracking of wheeled mobile robot,an extended state observer is used to estimate the wheel skidding and slipping disturbances.It is proved that all the signals in the closed-loop system are bounded and that the tracking error converges to zero in finite time.Simulation and experiment results demonstrate the effectiveness of the proposed scheme.
Keywords/Search Tags:wheeled mobile robot, trajectory tracking, skidding and slipping, disturbance observer, terminal sliding mode control
PDF Full Text Request
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