Trajectory Tracking Research Of Omnidirectional Mobile Robot Based On Model-free Active Disturbance Rejection Control

With the continuous advancement of human society and the increasing development of technological innovation,robots are beginning to engage in more and more boring,tedious and dangerous work.Omnidirectional mobile robots also appear frequently in people's lives,such as unmanned restaurants,hospitals,factories,and space,etc.,where some humans cannot work properly.This paper addresses the problem of motor parameters that are increasingly difficult to accurately measure for omnidirectional mobile robots,as well as mathematical model problems that are increasingly difficult to accurately establish and some unknown internal and external disturbance problems.In this paper,adaptive sliding mode control,active disturbance rejection control,model-free adaptive control methods are used.The main research contents are as follows:Firstly,based on the structural characteristics of omnidirectional mobile robots,the kinematics model and dynamics model are derived,and its dynamic characteristics are analyzed,which lays a foundation for control algorithm design and simulation research.Then,aiming at the unknown motor parameters of omnidirectional mobile robots and some unknown internal and external disturbances,this paper designs an omnidirectional mobile robot trajectory tracking control system with unknown motor parameters.Firstly,the parameters of the unknown motor parameters in the omnidirectional mobile robot are estimated.Secondly,the sliding extended state observer is designed to compensate the internal and external disturbances.Then the relevant adaptive sliding mode controller is designed for trajectory tracking control.Then the observer error is proved to be bounded,and the Lyapunov method is used to prove that the control system is Asymptotic stable.The simulation and experimental results verify that the control system has strong robustness and practicability.Finally,in order to solve the dependence of the existing control algorithm on the mathematical model of the robot and some unknown internal and external disturbances,this paper designs a model-free active disturbance rejection control based on omnidirectional mobile robot.Firstly,the inertia matrix in the robot model is estimated only by using the input and output data online.Secondly,the linear extended state observer is designed to observe and compensate some unknown internal and external disturbances in the robot system.After that,the related model-free active disturbance rejection controller is designed for trajectory tracking control.The input-state stabilization method is used to prove that the control system is global input-state stable.The simulation and experimental results verify the effectiveness of the control system.