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Passive omni-directional mobile robot trajectory tracking auto-disturbance rejection control method

A technology of omnidirectional movement and active disturbance rejection control, which can be used in adaptive control, general control system, control/regulation system, etc., and can solve problems such as difficulty in establishing system models.

Active Publication Date: 2018-10-26
TIANJIN UNIV
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Problems solved by technology

Since the omnidirectional mobile robot system is a very complex nonlinear and strongly coupled system, it is difficult to establish an accurate system model, so its trajectory tracking control has become a challenging hot issue in the field of robotics research.

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  • Passive omni-directional mobile robot trajectory tracking auto-disturbance rejection control method
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  • Passive omni-directional mobile robot trajectory tracking auto-disturbance rejection control method

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Embodiment Construction

[0111] Active disturbance rejection control method based on passive trajectory tracking of omni-directional mobile robots. This scheme uses an expanded state observer to estimate the total disturbance of the system, including unmodeled parts, parameter uncertainties and external disturbances, and uses a passive controller designed based on the passive characteristics of the omni-directional mobile robot system to compensate the observer Estimated disturbance to achieve the goal of precise trajectory tracking control. The extended state observer will actively extract the disturbance information from the input and output signals of the controlled object, so that the control signal can be used to eliminate the disturbance before the disturbance affects the system. This solution is an active control to eliminate the disturbance. The passive controller makes full use of the structural characteristics of the system itself, retains the dissipative force in the system, reduces the need...

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Abstract

The invention relates to the control of trajectory tracking of omni-directional mobile robots. In order to realize the precise control of the omni-directional mobile robot under the condition that theuncertainty of a dynamic model and the external disturbance exist simultaneously, and avoid the inversion operation, the technical solution adopted by the present invention is that: the omni-directional mobile robot trajectory tracking auto-disturbance control method uses an optimized reduced-order extended state observer to estimate the total disturbance of the omnidirectional mobile robot system, including unmodeled parts, parameter uncertainties and external disturbances, and uses a passive controller designed based on passive characteristics of the omnidirectional mobile robot system to compensate the disturbance estimated by the observer to achieve trajectory tracking control; the extended state observer actively takes the disturbance information from the input and output signals ofa controlled object to eliminate interference with control signals before the disturbance affects the system. The invention is mainly applied to the trajectory tracking and control of mobile robots.

Description

Technical field [0001] The invention relates to a control problem of trajectory tracking of a three-wheel omnidirectional mobile robot. Aiming at the external disturbance and uncertain model parameters of the omnidirectional mobile robot system, using the structural characteristics of the robot dynamics system itself, an active disturbance rejection control method based on the passive characteristics of the omnidirectional mobile robot dynamic system is proposed. Background technique [0002] The omnidirectional mobile robot is a mobile robot with complete 3 degrees of freedom that can perform translation and rotation simultaneously and independently. It is very suitable for working in situations with limited space and high requirements for robot maneuverability. The more widely used. The trajectory tracking of a mobile robot is an important part of the autonomous navigation of a mobile robot. A mobile robot with good trajectory tracking ability can complete work more efficient...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 任超丁雨彤马书根
Owner TIANJIN UNIV
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