针对带有输入饱和约束的轮式移动机器人鲁棒轨迹跟踪问题,文章提出一种抗饱和自适应滑模控制方法. 考虑到系统参数摄动和外部扰动等不确定因素对系统控制性能的影响, 首先设计非线性扩张状态观测器来估计系统不确定因素, 并基于估计值设计抗饱和自适应滑模控制器, 消除系统的参数摄动、外部扰动和输入饱和约束对系统控制性能的影响. 仿真对比结果验证了文章所提控制方法的优越性和有效性.

An anti-windup adaptive sliding mode control method is proposed for the robust trajectory tracking problem of wheeled mobile robot with input saturation constraint. Taking into account the influence of uncertain factors such as system parameters perturbation and external disturbances, a nonlinear extended state observer is designed to estimate the system uncertain factors. Then, based on the estimated value, an anti-windup adaptive sliding mode controller is presented to eliminate the influence of parameters perturbation, external disturbance and input saturation constraint on the system control performance. Comparative simulation results are given to demonstrate the superior performance and effectiveness of the proposed control method.