Enhanced Reduced-Order Extended State Observer for Motion Control of Differential Driven Mobile Robot
针对差速驱动移动机器人，提出一种增强型降阶扩展状态观测器控制方法，仅估计未知状态误差和负扰动，降低能耗，并通过仿真验证其跟踪与抗扰性能优于传统方法。
Motion control is critical in mobile robot systems, which determines the reliability and accuracy of a robot. Due to model uncertainties and widespread external disturbances, a simple control strategy cannot match tracking accuracy with disturbance immunity, while a complex controller will consume excessive energy. For precise motion control with disturbance immunity and low energy consumption, a control method based on an enhanced reduced-order extended state observer (ERESOBC) is proposed to control the motor-wheels dynamic model of a differential driven mobile robot (DDMR). In this method, only unknown state error and negative disturbance are estimated by the enhanced reduced-order extended state observer (ERESO), which reduces the required energy of the observer. In addition, a simple state-feedback-feedforward controller is used to track the reference signal and compensate for negative disturbance. Through numerical simulation and application example, the tracking performance and disturbance rejection performance of DDMR are compared with the traditional control method based on enhanced extended state observer (EESOBC), and the results show the superiority of the ERESOBC method.