Generalized Extended State Observer Approach to Robust Tracking Control for Wheeled Mobile Robot with Skidding and Slipping

International Journal of Advanced Robotic Systems

关键词: Wheeled Mobile Robot;    Skidding And Slipping;    Robust Tracking Control;    Generalized Extended State Observer;   

DOI  :  10.5772/55738

学科分类：自动化工程

来源: InTech

【 摘 要 】

This paper proposes a robust tracking controller based on a Generalized Extended State Observer (GESO) method for a wheeled mobile robot (WMR) with unknown skidding and slipping. Skidding and slipping of a WMR are inevitable in practice. We regard skidding and slipping as disturbances and modify the dynamics model to consider them simply. Then, we adopt the GESO to design a robust tracking controller at kinematic and dynamic level. Using Lyapunov theory, we derive the control law and guarantee the stability of the control system. The proposed control achieves attenuation of the disturbance and convergence of the tracking errors. The performance of the proposed method is verified by some simulation results.

【 授权许可】

CC BY