Active Disturbance Rejection Trajectory Tracking Control for Inspection Mobile Robots

摘要

In addressing the issue of minimizing angle and distance deviation during trajectory tracking of inspection mobile robots, this paper proposes a trajectory tracking rapid response control algorithm based on Linear Active Disturbance Rejection Control (LADRC). Initially, by deriving the relationship between robot trajectory deviation and wheel speed, the kinematic model of the mobile robot is established. Subsequently, the dynamic model of the mobile robot is constructed. An extended state observer is employed to estimate unmodeled components of the system and external disturbances. The LADRC method is utilized to eliminate them. Finally, the effectiveness of the algorithm is validated through simulation experiments and real-world testing. Results demonstrate that the proposed trajectory tracking control method effectively reduces errors during the trajectory tracking process, leading to system stability.