Study on ADRC-based mobile robot lateral control

摘要

In order to achieve precise navigation, mobile robot (MR) lateral controller should adapt well to uncertainties, such as longitudinal velocity varieties, disturbances, etc. It makes the design of MR lateral controller always a hard work. Firstly, MR lateral motion mathematic model was built and the active disturbance rejection controller (ADRC) design method was introduced. Then MR lateral motion system was regarded as a two-loop serial system, and its ADRC controller was designed. Lastly, the lateral control simulations in the large range velocity varieties and large disturbance environments were done. The results show that the ADRC controller has strong robustness, and the precise lateral control can be implemented.