Robust tracking control for wheeled mobile robot based on extended state observer

被引：44

作者：

Yang, Hongjiu ^{[1
]}

Fan, Xiaozhao ^{[1
]}

Xia, Yuanqing ^{[2
]}

Hua, Changchun ^{[1
]}

机构：

[1] Yanshan Univ, Coll Elect Engn, Qinhuangdao 066004, Peoples R China

[2] Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China

来源：

ADVANCED ROBOTICS | 2016年 / 30卷 / 01期

基金：

中国国家自然科学基金;

关键词：

Wheeled mobile robot; nonholonomic constraints; extended state observer; stability analysis; DISTURBANCE REJECTION CONTROL; SLIDING MODE CONTROL; NEURAL-NETWORKS; STABILIZATION; SYSTEMS;

D O I：

10.1080/01691864.2015.1085900

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper presents a new control scheme on trajectory tracking of wheeled mobile robot with nonholonomic constraints. Extended state observer is introduced to estimate unknown disturbances and velocity information. A robust tracking controller is designed to implement the accurate trajectory tracking and disturbance compensation. By theoretical, position and velocity tracking errors of wheeled mobile robot are proven uniformly ultimately asymptotically stable. Simulation results are given to illustrate the effectiveness of the developed technique.

引用

页码：68 / 78

页数：11

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