Trajectory Tracking Control of an Omnidirectional Mobile Manipulator Based on Active Disturbance Rejection Control

被引：0

作者：

Ren, Chao ^{[1
]}

Zhang, Mingyuan ^{[1
]}

Ma, Shugen ^{[1
,2
]}

Wei, Dongmei ^{[1
]}

机构：

[1] Tianjin Univ, Sch Elect & Informat Engn, Tianjin, Peoples R China

[2] Ritsumeikan Univ, Dept Robot, Kusatsu, Shiga, Japan

来源：

2018 13TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2018年

基金：

中国国家自然科学基金;

关键词：

SYSTEM;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, active disturbance rejection control (ADRC) is proposed for trajectory tracking control of an omnidirectional mobile manipulator, with the presence of parameter uncertainties and external disturbances. Firstly, based on Lagrangian formulation, a unified dynamic model of the mobile manipulator is deduced. Then an extended state observer (ESO) and the PD controller are applied. The main idea of the control framework is that the unknown internal dynamics of the system and external disturbances are estimated by ESO and compensated actively by the controller. Meanwhile, the stability of the closed-loop system is guaranteed. Simulation results show the effectiveness and strong robustness of the proposed control method.

引用

页码：1537 / 1542

页数：6

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