Journal
ROBOTICS AND AUTONOMOUS SYSTEMS
Volume 107, Issue -, Pages 236-245Publisher
ELSEVIER
DOI: 10.1016/j.robot.2018.06.011
Keywords
WMRs; Trajectory tracking control; Lateral and longitudinal slippage; Active disturbance rejection control
Funding
- National Natural Science Foundation of China [61370033/51575120]
- National Basic Research Program of China [2013CB035502]
- Foundation for Innovative Research Groups of the National Natural Science Foundation of China [51521003]
- Foundation of Chinese State Key Laboratory of Robotics and System [SKLRS20164B]
- Harbin Talent Program for Distinguished Young Scholars [2014RFYXJ001]
- 111 Project [B07018]
- Harbin Applied Technology Project of Research and Development [2015RQQXJ081]
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With the increasing application of wheeled mobile robots on soft terrains, the challenge of lateral and longitudinal slippage existing in the contact surface between the wheels and the terrain has attracted more attention. To address the difficulties caused by the lateral and longitudinal slippage, this paper proposes an improved linear active disturbance rejection control (LADRC) method for path tracking control of a six-wheeled corner steering rover. Based on the LADRC, the tracking differentiator and nonlinear state error feedback are introduced into the improved LADRC. By using the improved LADRC, the influence of disturbances in inputs can be attenuated and a higher regulating efficiency than LADRC can be achieved. The simulations validate the effectiveness of the proposed approach with a good tracking performance. (C) 2018 Elsevier B.V. All rights reserved.
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