The invention discloses a UGV active disturbance rejection control method based on modeling compensation and extended disturbance observation, and belongs to the technical field of unmanned ground vehicle trajectory tracking control. An active disturbance rejection control strategy for the UGV is provided by improving the estimation precision of an observer, and the dynamic disturbance rejection performance of the UGV is improved in a targeted manner by suppressing interference in a trajectory tracking process; firstly, part of information of a transverse control model is actively reserved in a state matrix so as to compensate estimation deviation of an extended state observer to a UGV state; then, the free variable used for estimating the high-order disturbance state is integrated into the high-order variable of the ESO, so that the estimation precision of the ESO on the total disturbance is further improved; according to a feedback linearization theory, an estimated value of UGV total disturbance is added into a control law, and accurate suppression of complex disturbance is achieved; a simpler and more convenient parameter configuration method is designed for key parameters of the controller.

    本发明公开了一种基于建模补偿和扩展扰动观测的UGV自抗扰控制方法,属于无人地面车辆轨迹跟踪控制技术领域。通过提高观测器的估计精度,提出了一种针对UGV的自抗扰控制策略,通过抑制轨迹跟踪过程中的干扰以针对性地改善UGV的动态抗扰性能;首先在状态矩阵中主动保留横向控制模型的部分信息,以补偿扩展状态观测器对UGV状态的估计偏差;之后,将用于估计高阶扰动状态的自由变量整合到ESO的高阶变量中,从而进一步提高ESO对总扰动的估计精度;根据反馈线性化理论,在控制律中加入UGV总扰动的估计值,实现对复杂扰动的精确抑制;针对控制器的关键参数设计了更为简便的参数配置方法。


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    Title :

    UGV active disturbance rejection control based on modeling compensation and extended disturbance observation


    Additional title:

    基于建模补偿和扩展扰动观测的UGV自抗扰控制


    Contributors:
    LI BAOQUAN (author) / ZHAO CHENYANG (author) / ZHU CHANGFU (author) / ZHANG XUEBO (author)

    Publication date :

    2025-04-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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