Cuiping Pu, Jie Ren, Youwen Zhai, and Yuhang Zhang
ADRC; Robot; Trajectory Tracking
The wheeled mobile robot is a typical uncertain robot system, which has typical nonholonomic characteristics and underdrive characteristics with different input and output dimensions. In the unknown environment, the slip and sideslip of the wheeled mobile robot are inevitable. Therefore, the research on trajectory tracking control of the wheeled mobile robot under sliding is of great significance. Aiming at the tracking problem of the wheeled mobile robot system with side slip disturbance, a Lyapunov design method based on extended state observer is proposed by using active disturbance rejection strategy. The influence of the sideslip disturbance on the system is regarded as the total disturbance of the system, and the extended state observer is used to observe the total disturbance in real time. The observation of the total disturbance by the extended state observer plays a patch role in the control law. When there is no disturbance, the system returns to the Lyapunov control under the nominal model. When there is a disturbance, the disturbance is compensated by the extended state observer, so that the system is approximately equivalent to the nominal model without being affected by the disturbance. The simulation results show that the system has better transient performance and anti-interference performance compared with the inverse control regardless of whether it is disturbed or not.
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