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

doi:10.13229/j.cnki.jdxbgxb20200065

Abstract

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

CLC Number:

TP273

Shu-you YU,Huan CHANG,Ling-yu MENG,Yang GUO,Ting QU. Disturbance observer based moving horizon control for path following problems of wheeled mobile robots[J].Journal of Jilin University(Engineering and Technology Edition), 2021, 51(3): 1097-1105.

Figures/Tables 8

Fig.1

Fig.2

Table 1

Parameters of wheeled mobile robot"

参数	符号	参数	符号
前轮轮距	$2 b$	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	$ρ f$	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	$ω l$
前轮转角	$δ$	右轮轮速	$ω r$

Table 1

Fig.3

Fig.4

Fig.5

Fig.6

Fig.7

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

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