重庆邮电大学学报（自然科学版）2017，Vol.29Issue(3)：382-388,7.DOI:10.3979/j.issn.1673-825X.2017.03.016
基于扩张状态观测器的轮式移动机器人全阶滑模控制
Full-order sliding mode control of wheeled mobile robot based on extended state observer
摘要
Abstract
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.关键词
轮式移动机器人/轨迹跟踪/全阶滑模/扩张状态观测器Key words
wheeled mobile robots/trajectory tracking/full-order sliding mode/the extended state observer分类
信息技术与安全科学引用本文复制引用
郭一军,俞立,徐建明..基于扩张状态观测器的轮式移动机器人全阶滑模控制[J].重庆邮电大学学报（自然科学版）,2017,29(3):382-388,7.基金项目
国家自然科学基金(61374103) （61374103）
安徽省高校自然科学研究基金(KJHS2015B11)The National Natural Science Foundation of China(61374103) （KJHS2015B11）
The Scientific Research Foundation of the Education Department of Anhui Province(KJHS2015B11) （KJHS2015B11）
