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Model-free auto disturbance rejection control method for omnidirectional mobile robot trajectory tracking

A technology for omni-directional movement and trajectory tracking, which is applied in adaptive control, two-dimensional position/channel control, general control system, etc., and can solve problems such as difficulty in obtaining accurate robot models, complicated parameter adjustment, and difficult application

Active Publication Date: 2019-05-03
TIANJIN UNIV
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Problems solved by technology

Most of the existing research work requires model information, but it is difficult to obtain the precise model of the robot in practical applications, and the controller designed for the research work has a large amount of calculation and complex parameter adjustment, which is difficult to be applied in practice

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  • Model-free auto disturbance rejection control method for omnidirectional mobile robot trajectory tracking

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Embodiment Construction

[0078] A trajectory tracking control method based on model-free active disturbance rejection for an omnidirectional mobile robot. In this scheme, the model-free adaptive control algorithm is used to estimate the unknown inertia matrix of the robot, and the controller is designed to effectively control the omni-directional mobile robot, and then the unmodeled part and parameter uncertainty of the system are estimated by the extended state observer And external disturbances, and design an active disturbance rejection controller to realize trajectory tracking control, and achieve the goal of precise tracking trajectory control. The extended state observer is used to 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 a model-free control method. Realize precise control of omnidirectional mobile robots witho...

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Abstract

The invention relates to a model-free auto disturbance rejection control method for omnidirectional mobile robot trajectory tracking. The method includes the following steps: step one, performing estimation on an inertial matrix on a general control system by utilizing a model-free adaptive pseudo Jacobian matrix (PJM), and obtaining a kinetic model of a discretized omnidirectional mobile robot; step two, designing an extended state observer according to the kinetic model; and step three, designing a controller, wherein the controller consists of three parts, the first part is an auto disturbance rejection part based on a traditional feedback control method, and the second part uses the observer to compensate the unmodeled part and disturbed part of the system; and obtaining a model-free controller.

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 problem and the difficulty of dynamic model modeling in the omnidirectional mobile robot system, a model-free control method is designed using the online input and output data of the robot system, and the extended state observer is used to monitor the unmodeled parts and Design estimation compensation method for external disturbance part of the system. A model-free active disturbance rejection control method based on input and output data of omnidirectional mobile robot is proposed. Background technique [0002] An omnidirectional mobile robot is a robot that satisfies complete constraints and has three degrees of freedom in a plane. With higher mobility and flexibility than ordinary robots, it can change direction and move in any direction without reorientation. With the continuous development and impro...

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Application Information

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IPC IPC(8): G05B13/04G05D1/02
Inventor 任超王剑马书根
Owner TIANJIN UNIV
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