现代电子技术2024，Vol.47Issue(6)：165-170,6.DOI:10.16652/j.issn.1004-373x.2024.06.027
基于LADRC的四轮全向Mecanum轮机器人运动控制研究
Research on four-wheel omnidirectional Mecanum wheel robot motion control based on LADRC
蒋华扬 1吴涛 2李明烁 1孙家辉 1任建鑫1
作者信息
- 1. 昆明理工大学 机电工程学院, 云南 昆明 650500
- 2. 昆明理工大学 机电工程学院, 云南 昆明 650500||昆明理工大学 计算中心, 云南 昆明 650500
- 折叠
摘要
Abstract
In recent years,the role of mobile robots has become increasingly evident in fields such as inspection tasks,smart appliances,and autonomous driving.Due to the particularity of the omnidirectional mobile robot structure and the complexity of motion control,classic control methods such as proportional-integral-derivative control and linear quadratic regulation control are challenging to achieve stable control.In allusion to problem that omnidirectional mobile robot is susceptible to external disturbance and its modeling is not accurate,the motion control system of four-wheel omnidirectional Mecanum wheel robot is designed.A real-time estimation of the overall disturbance for the robot is accomplished by means of an extended state observer,and the design of the LADRC(linear active disturbance rejection control)controller is completed.The experimental results show that,in comparison with traditional control methods,the controller based on LADRC can better suppress external interference,reduce motion errors,and improve the motion accuracy and robustness of the robot.关键词
四轮全向Mecanum轮机器人/LADRC控制器/运动学模型/扩张状态观测器/抗扰特性/轨迹跟踪Key words
four-wheel omnidirectional Mecanum wheel robot/LADRC controller/motion model/expansion state observer/immunity characteristics/trajectory tracking分类
信息技术与安全科学引用本文复制引用
蒋华扬,吴涛,李明烁,孙家辉,任建鑫..基于LADRC的四轮全向Mecanum轮机器人运动控制研究[J].现代电子技术,2024,47(6):165-170,6.
