基于干扰观测器的移动机器人轨迹跟踪控制

doi:10.3969/j.issn.0255-8297.2016.02.008

Abstract

Abstract: Focusing on the trajectory tracking problem of mobile robots, an integral sliding mode controller based on a disturbance observer is designed. By considering the influence of skidding and disturbances, kinematic and dynamic models of the mobile robot are established. An adaptive disturbance observer based on the terminal sliding mode theory is designed to realize finite-time estimation of the compound disturbance. A trajectory tracking controller based on kinematic model is then designed, with which the position tracking error converges asymptotically and the angular tracking error is bounded. Combining the disturbance observer and the integral sliding mode method, a velocity tracking controller is designed based on a dynamic model. Finally, simulation results are given to verify effectiveness of the developed control algorithm.

Key words: mobile robots, trajectory tracking, disturbance observer, integral sliding mode control

CLC Number:

TP242

XU Kun, CHEN Mou. Control of Trajectory Tracking of Mobile Robots Based on Disturbance Observer[J]. Journal of Applied Sciences, 2016, 34(2): 177-189.

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Control of Trajectory Tracking of Mobile Robots Based on Disturbance Observer

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