Network mobile robot locus tracking control method based on linearity auto-disturbance rejection

Abstract

The invention discloses a network mobile robot locus tracking control method based on linearity auto-disturbance rejection, comprising steps of establishing the moving robot locus tracking control system model containing communication delay, describing the uncertainty dynamic condition caused by the time delay as the uncertainty of the system model, designing an extended state observer for estimating the uncertainty of the locus tracking control system which is caused by the network time delay, designing a moving robot locus tracking linearity auto-disturbance rejection controller with the extended state observer to perform dynamic linearity compensation on the uncertainty dynamic condition caused by the time delay. As a result, the invention eliminates affects on the system performance which are caused by the network time delay and realizes the real-time compensation of the network time delay and the high accuracy locus tracking.

Description

technical field [0001] The invention relates to the field of mobile robot control, in particular to a trajectory tracking control method of a networked mobile robot based on linear active disturbance rejection. Background technique [0002] The changing trend in the field of robotics is transitioning from fixed manipulators on the production line to autonomous mobile robots that can do more complex tasks, such as rescue, military operations, and daily life services. In recent years, mobile robots have been widely used in different industrial processes, and the design of their control methods is regarded as a difficult point, because mobile robots are a typical class of incomplete systems. One of the key points of the mobile robot control problem is the trajectory tracking control. However, the tracking error system describing the trajectory tracking is a coupled nonlinear system, which does not satisfy Brockett's necessary conditions and thus complicates the control problem....

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the deficiencies of the existing mobile robot trajectory tracking control methods, such as incompatibility, poor flexibility, large amount of calculation, complicated design process and no consideration of the network-induced delay phenomenon existing in trajectory tracking, the present invention provides a linear The method of active disturbance rejection to deal with the trajectory tracking problem of mobile robots reduces the complexity of the algorithm and compensates the communication delay in the control system. It has the advantages of simple algorithm, high control precision, and strong anti-interference ability.

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