基于扩张状态观测器的轮式移动机器人全阶滑模控制

针对存在模型参数摄动和外部有界扰动不确定因素影响下的非完整移动机器人轨迹跟踪控制问题,提出一种基于扩张状态观测器的全阶滑模移动机器人轨迹跟踪控制方法.通过坐标变换将耦合的系统动力学模型转化为2个独立的子系统,再将模型参数摄动和外部有界扰动不确定因素扩张为一个新的变量,进而分别对2个子系统设计扩张状态观测器用于估计并补偿系统的总和扰动,抑制其对系统控制性能的影响,结合滑模控制理论设计基于扩张状态观测器的全阶滑模控制器,保证系统输出稳定跟踪给定信号且消除传统滑模控制中抖振突出的问题,提高系统滑动模态的品质.仿真对比结果验证了所设计控制方法的优越性和有效性.

Full-order sliding mode control of wheeled mobile robot based on extended state observer

In this paper, a full order sliding mode trajectory tracking control method based on extended state observer is proposed for the trajectory tracking problem of nonholonomic wheeled mobile robot, which has model parametric perturbation and external bounded disturbances. Firstly, through a simple coordinate transformation, the coupling system dynamics model is transformed into two independent subsystems. Secondly, by taking the model parametric perturbation and external bounded disturbances as an extended new variable, the extended state observer is designed to estimate and compensate the total disturbance for the two subsystems separately, which can suppress the effect of total disturbance on the system control performance. Then, by combining the sliding mode control theory, a full-order sliding controller based on the extended state observer is proposed to ensure that the system output can stably track the reference signal and eliminate the chattering problem of the traditional controller , and to improve the quality of sliding mode. Comparative simulation results are presented to verify the effectiveness and superiority of the proposed method.