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Active Disturbance Rejection Control Method for Trajectory Tracking of Passive Omnidirectional Mobile Robot

A technology of omni-directional movement and active disturbance rejection control, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., and can solve problems such as difficult establishment of system model

Active Publication Date: 2021-07-06
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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  • Active Disturbance Rejection Control Method for Trajectory Tracking of Passive Omnidirectional Mobile Robot
  • Active Disturbance Rejection Control Method for Trajectory Tracking of Passive Omnidirectional Mobile Robot
  • Active Disturbance Rejection Control Method for Trajectory Tracking of Passive Omnidirectional Mobile Robot

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Embodiment Construction

[0111]Active Disturbance Rejection Control Method for Trajectory Tracking of Omnidirectional Mobile Robot Based on Passivity. The scheme uses the extended state observer to estimate the total disturbance of the system, including unmodeled parts, parameter uncertainties and external disturbances, and uses a passivity controller designed based on the passive characteristics of the omnidirectional mobile robot system to compensate for the disturbance caused by the observer. The estimated perturbation achieves the goal of precise trajectory-following control. The extended state observer will actively extract the disturbance information from the input and output signals of the controlled object, so that the disturbance can be eliminated by the control signal before the disturbance affects the system. This scheme is an active disturbance elimination control. The passive controller makes full use of the structural characteristics of the system itself, retains the dissipation force in...

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Abstract

The present invention relates to the control of trajectory tracking of an omnidirectional mobile robot. In order to realize the precise control of an omnidirectional mobile robot under the conditions of uncertain dynamic model and external disturbance and avoid inverse calculation, the technical scheme adopted in the present invention is: The original omnidirectional mobile robot trajectory tracking ADRC method uses the 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 the method based on The passivity controller designed by the passive characteristics of the omnidirectional mobile robot system compensates the disturbance estimated by the observer and realizes the trajectory tracking control, in which the disturbance information is actively obtained from the input and output signals of the controlled object It is extracted so that the disturbance can be eliminated by the control signal before the disturbance affects the system. The invention is mainly applied to the track tracking and control occasions of the mobile robot.

Description

technical field [0001] The invention relates to a control problem of trajectory tracking of a three-wheel omnidirectional mobile robot. Aiming at the problems of external disturbance and uncertain model parameters in the omnidirectional mobile robot system, an active disturbance rejection control method based on the passive characteristics of the dynamic system of the omnidirectional mobile robot is proposed by using the structural characteristics of the dynamic system of the robot itself. Background technique [0002] Omni-directional mobile robot is a mobile robot with complete 3 degrees of freedom, which can simultaneously and independently perform translational and rotational movements. more widely used. Trajectory tracking of mobile robots is an important part of autonomous navigation of mobile robots. Mobile robots with good trajectory tracking capabilities can do their jobs more efficiently and accurately. Since the omnidirectional mobile robot system is a very com...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 任超丁雨彤马书根
Owner TIANJIN UNIV
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