Simulation Research on Decoupling Control of Active-disturbance-rejection of Omnidirectional Robot

摘要

Abstract Active-disturbance-rejection controlling method is proposed in this essay aiming at the problems of omnidirectional robots, such as complex model, strong coupling and controlling difficulty caused by internal and external stochastic disturbance. Taking eight-wheel omnidirectional robots as the example, the coupling method based on active-disturbance-rejection is designed by analysing the kinematic-dynamic model of the robot. Non-linear function is used as the state feedback of the components of the active-disturbance rejection controller, and extended state observe is adopted to estimate the internal and external stochastic disturbances and to provide active disturbance compensation. Through simulation experiment comparing with traditional PID controller, the decoupled active-disturbance-rejection controller can control omnidirectional robots better inhibit the unknown disturbance and improve the performance of the system.