Application of active disturbance rejection controller in wheeled mobile robot servo system

摘要

In wheeled mobile robot servo system, active disturbance rejection control (ADRC) technology is introduced and such controller is designed. It aims at solving the problems including complex external disturbances, changeful model parameters, contradiction between rapidity and overshoot as well as conventional control strategies depending heavily on high precise object model. For parameter tuning, the article presents an intelligent method based on the fusion of genetic algorithm and improved particle swarm optimization. The subsequent simulations prove ADRC performs better than PID control whether in static state with parameter perturbations and square wave disturbances or dynamic state of tracking sinusoidal reference signals. Experiments indicate that ADRC has a good robustness.