吉林大学学报(工学版) ›› 2021, Vol. 51 ›› Issue (3): 1097-1105.doi: 10.13229/j.cnki.jdxbgxb20200065

• 通信与控制工程 • 上一篇    

基于扰动观测器的轮式移动机器人滚动时域路径跟踪控制

于树友1,2(),常欢2,孟凌宇2,郭洋2,曲婷1()   

  1. 1.吉林大学 汽车仿真与控制国家重点实验室，长春 130022
    2.吉林大学 通信工程学院，长春 130022
  • 收稿日期:2020-02-10 出版日期:2021-05-01 发布日期:2021-05-07
  • 通讯作者: 曲婷 E-mail:shuyou@jlu.edu.cn;quting@jlu.edu.cn
  • 作者简介:于树友(1974-)，男，教授，博士. 研究方向：预测控制，鲁棒控制. E-mail:shuyou@jlu.edu.cn
  • 基金资助:
    国家自然科学基金项目(U1964202);江苏省新能源汽车动力系统重点实验室开放课题项目(JKLNEVPS201901)

Disturbance observer based moving horizon control for path following problems of wheeled mobile robots

Shu-you YU1,2(),Huan CHANG2,Ling-yu MENG2,Yang GUO2,Ting QU1()   

  1. 1.State Key Laboratory of Automotive Simulation and Control，Jilin University，Changchun 130022，China
    2.College of Communication Engineering，Jilin University，Changchun 130022，China
  • Received:2020-02-10 Online:2021-05-01 Published:2021-05-07
  • Contact: Ting QU E-mail:shuyou@jlu.edu.cn;quting@jlu.edu.cn

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摘要：

轮式移动机器人路径跟踪控制问题中通常存在状态约束和输入约束，并且系统运行时容易受到外部扰动的影响。本文基于非线性扰动观测器提出了一种轮式移动机器人滚动时域路径跟踪控制策略。当没有外部扰动作用于系统时，滚动时域控制算法可以满足控制约束和状态约束，并且使得轮式移动机器人跟踪期望的轨迹；当存在外部干扰，尤其是慢变扰动时，非线性扰动观测器能够估计扰动，并通过反馈补偿扰动对轮式移动机器人移动轨迹的影响。仿真结果表明，在外部干扰存在的情况下该控制策略能够保证移动机器人渐近跟踪期望路径。

关键词: 自动控制技术, 轮式移动机器人, 路径跟踪问题, 扰动观测器, 滚动时域控制

Abstract:

State constraints， input constraints and external disturbances usually exist in the path following problem of wheeled mobile robots. Based on nonlinear disturbance observer， a moving horizon control strategy for path following problem of wheeled mobile robots is proposed in this paper. While there is no disturbance at all， the moving horizon control can satisfy the input and state constraints， and drive the wheeled mobile robot to the desired path. While there are disturbances， in particular， slow varying and “big” disturbances， the proposed nonlinear disturbance observer can estimate the disturbances， and compensate the influence of the disturbances on the wheeled mobile robot through a feedback. Simulation results show that the proposed control strategy can guarantee the convergence of the mobile robot to the desired path under the external disturbance.

Key words: automatic control technology, wheeled mobile robot, path following problem, disturbance observer, model predictive control

中图分类号: 

  • TP273

图1

Unicycle 型轮式移动机器人的简化模型"

图2

大地坐标系下的轮式移动机器人"

表1

轮式移动机器人的参数"

参数符号参数符号
前轮轮距2b质心与前轮垂直距离d
车轮半径r小车瞬心O
瞬心到前轮距离ρf瞬心到质心距离ρ
小车质心合成速度v质心侧偏角β
横摆角(位姿角)φ左轮轮速ωl
前轮转角δ右轮轮速ωr

图3

系统结构框图"

图4

滚动时域控制（“8”字轨迹跟踪）"

图5

基于干扰观测器的滚动时域控制(“8”字轨迹跟踪)"

图6

滚动时域控制(圆形轨迹)"

图7

基于干扰观测器的滚动时域控制(圆形轨迹)"

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