Fixed-Time Generalized VGESO-Based Trajectory Tracking Control for WMRs on Uneven Road: A Fully Actuated System Approach

IF 5.2 1区工程技术 Q1 ENGINEERING, ELECTRICAL & ELECTRONIC

IEEE Transactions on Circuits and Systems I: Regular Papers Pub Date : 2025-03-19 DOI:10.1109/TCSI.2025.3560091

Jiaping Qiang;Li Li;Changchun Hua;Xiangyi Ren;Chao Liu

引用次数: 0

Abstract

In this paper, a trajectory tracking control problem is investigated for a wheeled mobile robot (WMR) on uneven road. A mapping relationship is established between the velocity and position to describe the motion of the robot on uneven road. An adaptive kinematic controller (AKC) is designed to improve the trajectory tracking accuracy, where robot parameters and control gains are both estimated. Then, a fixed-time generalized variable gain extended state observer (VGESO) is proposed to estimate the states and disturbance caused by uneven road, where a balance is maintained between disturbance rejection and noise suppression. Next, a dynamic controller is put forward by combining fully actuated system (FAS) approach with practical prescribed time (PPT) control. It is analyzed that the velocity tracking error system is PPT stable. Finally, experimental results demonstrate effectiveness and superiority of the proposed method.

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不平整路面上wmr固定时间广义vgesos轨迹跟踪控制：全驱动系统方法

研究了轮式移动机器人在不平坦路面上的轨迹跟踪控制问题。建立了速度与位置的映射关系来描述机器人在不平坦路面上的运动。为了提高轨迹跟踪精度，设计了一种自适应运动控制器（AKC），对机器人参数和控制增益进行了估计。然后，提出了一种固定时间广义变增益扩展状态观测器（VGESO）来估计道路不平整引起的状态和干扰，在干扰抑制和噪声抑制之间保持平衡。其次，将完全驱动系统（FAS）方法与实际规定时间（PPT）控制相结合，提出了一种动态控制器。分析了速度跟踪误差系统是PPT稳定的。最后，通过实验验证了该方法的有效性和优越性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Transactions on Circuits and Systems I: Regular Papers 工程技术-工程：电子与电气

CiteScore

9.80

自引率

11.80%

发文量

441

审稿时长

2 months

期刊介绍： TCAS I publishes regular papers in the field specified by the theory, analysis, design, and practical implementations of circuits, and the application of circuit techniques to systems and to signal processing. Included is the whole spectrum from basic scientific theory to industrial applications. The field of interest covered includes: - Circuits: Analog, Digital and Mixed Signal Circuits and Systems - Nonlinear Circuits and Systems, Integrated Sensors, MEMS and Systems on Chip, Nanoscale Circuits and Systems, Optoelectronic - Circuits and Systems, Power Electronics and Systems - Software for Analog-and-Logic Circuits and Systems - Control aspects of Circuits and Systems.