Dynamic velocity tracking control of differential-drive mobile robot based on LADRC

摘要

This paper presents a robustness study of a Linear Active Disturbance Rejection Control (LADRC) framework. A dynamic simulative study is carried out on a two-wheeled differential drive mobile robot (DDMR) velocity control. A dynamic model of the robot with actuators has been considered, including uncertain parameters and a coupling between the linear and angular velocities, and the two angular velocities, the robot motion is also a subject of external disturbances which can degrade the performance of classical controllers. However, In LADRC, the unmeasured dynamics and external disturbances are considered as an additional state variable, it is then estimated by a linear Extended State Observer (LESO) and compensated in the control law. The simulation results show the efficiency of proposed LADRC-based controller in the reduction of the effect of dynamic variations. The LADRC robustness is compared with a proportional-integral-derivative controller (PID). Better results in terms of disturbance rejection have been reported for the LADRC.