Trajectory tracking control for wheeled mobile robots based on nonlinear disturbance observer with extended Kalman filter
Trajectory tracking control for wheeled mobile robots based on nonlinear disturbance observer with extended Kalman filter
复制标题
基于扩展卡尔曼滤波器非线性扰动观测器的轮式移动机器人轨迹跟踪控制
DOI：
10.1016/j.jfranklin.2020.04.043
复制
发表时间：
2020-09-01
影响因子：
4.1
通讯作者：
Zhou, Ning
中科院分区：
文献类型：
--
作者：
Li, Li;Wang, Tianqi;Zhou, Ning
研究了非完整轮式移动的机器人在非随机干扰和随机干扰下的轨迹跟踪问题。设计了一种基于扩展卡尔曼滤波的非线性扰动观测器（NDEKF）来观测机器人的速度和非随机扰动。设计了误差反馈控制器和运动控制器，实现了系统的扰动补偿和精确位置跟踪。给出了NDEKF估计误差的均方指数有界性。应用李雅普诺夫稳定性理论，证明了双闭环系统的速度和位置跟踪误差是一致最终渐近稳定的。最后，数值仿真验证了该方法的有效性。(C)2020年富兰克林研究所。由爱思唯尔有限公司出版。保留所有权利。
This article tackles the trajectory tracking problem for a non-holonomic wheeled mobile robot (WMR) with non-random and random disturbances. A nonlinear disturbance observer with extended Kalman filter (NDEKF) is designed to observe the velocity and the non-random disturbance of the WMR. An error feedback controller and a kinematic controller are proposed to achieve the disturbance compensation and perfect position tracking. The mean square exponential boundedness for the estimation error of NDEKF is presented. Applying the Lyapunov stability theory, it is proved that the velocity and position tracking error of the double closed-loop system are uniformly ultimately asymptotically stable. Finally, numerical simulations demonstrate the validity of the presented methodology. (C) 2020 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.