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Robot trajectory tracking auto-disturbance rejection control method based on model-free outer loop compensation

A technology of active disturbance rejection control and active disturbance rejection controller, 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: 2019-05-28
TIANJIN UNIV
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Problems solved by technology

However, since the omnidirectional mobile robot system is a typical nonlinear, strongly coupled time-varying multiple-input multiple-output 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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  • Robot trajectory tracking auto-disturbance rejection control method based on model-free outer loop compensation
  • Robot trajectory tracking auto-disturbance rejection control method based on model-free outer loop compensation
  • Robot trajectory tracking auto-disturbance rejection control method based on model-free outer loop compensation

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Embodiment Construction

[0055] Active disturbance rejection control method for omnidirectional mobile robot trajectory tracking based on model-free outer loop compensation. The scheme first gives the dynamic model of the omnidirectional mobile robot system; then uses the extended state observer to estimate the uncertainty of the dynamic model and the external disturbance of the system; then designs the controller according to the analytical acceleration control method, and estimates the observer The disturbance information is added to the controller; finally, the model-free adaptive control based on the compact format is added to the outer loop of the ADRC system that has been established.

[0056] The invention combines a model-based control method with a model-free control method, so that the quality of the control system can be improved without destroying the original control system under the condition that the model cannot be accurately modeled. In other words, ADRC and model-free adaptive contro...

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Abstract

The invention relates to a robot trajectory tracking auto-disturbance rejection control method based on model-free outer loop compensation. The method comprises the following steps that step 1, an omnidirectional mobile robot system dynamics model is established; step 2, an extended state observer is designed according to the dynamics model; step 3, an auto-disturbance rejection controller is designed according to an analytic acceleration control method, wherein the auto-disturbance rejection controller is composed of two parts, one part is used for compensating for the total disturbance of asystem, the other part is used for the trajectory tracking control over a robot, proportional differential feedback is introduced, and the model-free adaptive controller is obtained according to a false Jacobian matrix estimated value to add model-free adaptive control into the extended state observer.

Description

technical field [0001] The invention relates to the field of omnidirectional mobile robot control, in particular to an omnidirectional mobile robot trajectory tracking active disturbance rejection control based on model-free outer loop compensation. Background technique [0002] An omnidirectional mobile robot is a robot that satisfies complete constraints and has three degrees of freedom in a plane, that is, it can simultaneously and independently perform translational and rotational motions. It can pass through narrow passages and right-angled curves, and can fine-tune its own posture in occasions that require precise positioning and high-precision trajectory tracking, and can achieve zero curvature radius movement. However, since the omnidirectional mobile robot system is a typical nonlinear, strongly coupled time-varying multiple-input and multiple-output system, it is difficult to establish an accurate system model, so its trajectory tracking control has become a challe...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 任超张婧一马书根
Owner TIANJIN UNIV
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