Journal
IEEE TRANSACTIONS ON CYBERNETICS
Volume 53, Issue 2, Pages 1299-1310Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCYB.2021.3123563
Keywords
Observers; Mobile robots; Uncertainty; Motion control; Tracking; Numerical models; Steady-state; Differential driven mobile robot (DDMR); enhanced reduced-order extended state observer (ERESO); external disturbances; uncertainties
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This paper proposes a control method based on an enhanced reduced-order extended state observer for precise motion control in mobile robot systems. The method reduces energy consumption by estimating unknown state error and negative disturbance and uses a simple state-feedback-feedforward controller to track the reference signal and compensate for negative disturbance.
Motion control is critical in mobile robot systems, which determines the reliability and accuracy of a robot. Due to model uncertainties and widespread external disturbances, a simple control strategy cannot match tracking accuracy with disturbance immunity, while a complex controller will consume excessive energy. For precise motion control with disturbance immunity and low energy consumption, a control method based on an enhanced reduced-order extended state observer (ERESOBC) is proposed to control the motor-wheels dynamic model of a differential driven mobile robot (DDMR). In this method, only unknown state error and negative disturbance are estimated by the enhanced reduced-order extended state observer (ERESO), which reduces the required energy of the observer. In addition, a simple state-feedback-feedforward controller is used to track the reference signal and compensate for negative disturbance. Through numerical simulation and application example, the tracking performance and disturbance rejection performance of DDMR are compared with the traditional control method based on enhanced extended state observer (EESOBC), and the results show the superiority of the ERESOBC method.
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