全向移动机器人的自抗扰轨迹跟踪控制

张相胜; 黄将

doi:10.13433/j.cnki.1003-8728.20200532

全向移动机器人的自抗扰轨迹跟踪控制

doi: 10.13433/j.cnki.1003-8728.20200532

张相胜,
黄将

江南大学轻工过程先进控制教育部重点实验室，江苏无锡　214122

基金项目: 国家自然科学基金项目（61773182）

详细信息

作者简介:
张相胜（1977−），副教授，博士，研究方向为机器人系统参数辨识与智能控制，zxs_vip@163.com

中图分类号: TK242
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- 文章访问数: 149
- HTML全文浏览量: 163
- PDF下载量: 15
- 被引次数: 0
出版历程
- 收稿日期: 2020-12-21
- 网络出版日期: 2023-02-16
- 刊出日期: 2022-12-05

Active Disturbance Rejection Trajectory Tracking Control of Omnidirectional Mobile Robot

The Ministry of Education Key Laboratory of Advanced Process Control for Light Industry, Jiangnan University, Wuxi 214122, Jiangsu, China

摘要

摘要: 针对4-Mecanum轮全向移动机器人轨迹跟踪问题，设计了一种自抗扰控制器。首先对机器人的运动学与动力学模型进行分析；其次由反步法设计运动学控制器，并根据机器人在运动过程中受到未知干扰的现象，设计了改进的扩张状态观测器和动力学控制器；最后在不同扰动的作用下进行仿真。对比结果表明该控制器跟踪误差小，收敛速度快，观测器能够快速准确地估计出不确定因素对机器人的扰动并进行实时补偿，验证了该控制器具有较好的抗干扰性和鲁棒性。
- 全向移动机器人 /
- 轨迹跟踪 /
- 自抗扰控制 /
- 扩张状态观测器
Abstract: In this paper, an active disturbance rejection trajectory trackingcontroller for a 4-Mecanum wheel omnidirectional mobile robot is presented. Firstly, the kinematic and dynamic model of the robot is analyzed. Secondly, the kinematic controller is designed with the backstepping method. An improved extended state observer and dynamic controller is designed because the disturbances during the robot′s movement remain unknown. Finally, simulation is carried out under the influence of different disturbances. The comparison results show that the controller has smaller tracking error and faster convergence speed. The extended state observer estimates the disturbances quickly and accurately with uncertain factors as well as making real-time compensation, thus verifying that the controller has better anti-interference and robustness.
- omnidirectional mobile robot /
- trajectory tracking /
- active disturbance rejection control /
- extended state observer

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图 1 全向移动机器人坐标系

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图 2 直线轨迹跟踪

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图 3 ADRC直线跟踪误差曲线

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图 4 SADRC直线跟踪误差曲线

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图 5 集总扰估计曲线

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图 6 SADRC中各轮输出力矩曲线

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图 7 圆形轨迹跟踪

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图 8 双扭线轨迹跟踪

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图 9 ADRC双扭线跟踪误差曲线

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图 10 SADRC双扭线跟踪误差曲线

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图 11 SADRC双扭线位姿观测误差曲线

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图 12 SADRC中各轮输出力矩

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表 1 ODMR模型参数与控制器参数

参数	参数值
ODMR	$ a{\text{ = }}0.37\;{\text{m}} $；$ b{\text{ = }}0.3\;{\text{m}} $；$ m = 11\;{\text{kg}} $；$ R{\text{ = }}0.04\;{\text{m}} $； $ {\mu _i}{\text{ = }}0.2 $；${J_{\textit{z}}}{\text{ = } }3.42\;{\text{kg} } \cdot { {\text{m} }^2}$；$ {J_m}{\text{ = }}0.137\;{\text{kg}} \cdot {{\text{m}}^2} $； ${f_i} = 2N,(i = 1,2,3,4)$；
控制器	$ {\omega _0}{\text{ = }}20 $；$ {\omega _c}{\text{ = }}30 $；$ \delta {\text{ = }}0.005 $；$ {\alpha _1}{\text{ = }}1 $；$ {\alpha _2}{\text{ = }}0.5 $； $ {\alpha _3}{\text{ = 0}}{\text{.25}} $；$ {k_1} = 0.8 $；$ {k_2} = 10 $；$ {k_3} = 0.5 $；$ {K_1} = 20 $； $ {K_2} = 40 $；$ {K_3} = 20 $

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表 2 直线轨迹评价指标

控制器		ADRC	SADRC
0 ~ 10 s	$ T({e_{xy}}) $	0.0357	0.0281
	$ T({e_\theta }) $	0.0155	0.0126
	$ {e_{xy}}_{\max } $	0.0101	0.0021
	$ {e_\theta }_{\max } $	0.0015	0.0019
10 ~ 25 s	$ T({e_{xy}}) $	0.3545	0.1992
	$ T({e_\theta }) $	0.0031	0.0036
	$ {e_{xy}}_{\max } $	0.0539	0.0207
	$ {e_\theta }_{\max } $	0.0104	0.0106

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表 3 双扭线轨迹评价指标

控制器		ADRC	SADRC
0 ~ 10 s	$ T({e_{xy}}) $	0.1281	0.1033
	$ T({e_\theta }) $	0.0132	0.0154
	$ {e_{xy}}_{\max } $	0.0104	0.0089
	$ {e_\theta }_{\max } $	0.0019	0.0015
10 ~ 25 s	$ T({e_{xy}}) $	0.8353	0.6165
	$ T({e_\theta }) $	0.0322	0.0459
	$ {e_{xy}}_{\max } $	0.0579	0.0235
	$ {e_\theta }_{\max } $	0.0176	0.0182

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