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.

中文翻译：

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用于差动驱动移动机器人运动控制的增强型降阶扩展状态观测器


运动控制在移动机器人系统中至关重要，它决定了机器人的可靠性和准确性。由于模型的不确定性和广泛的外部干扰，简单的控制策略无法满足跟踪精度和抗扰性，而复杂的控制器会消耗过多的能量。为了实现抗扰性和低能耗的精确运动控制，提出了一种基于增强型降阶扩展状态观测器（ERESOBC）的控制方法来控制差动驱动移动机器人（DDMR）的电机轮动态模型。该方法中，增强型降阶扩展状态观测器（ERESO）仅估计未知状态误差和负扰动，降低了观测器所需的能量。此外，还使用一个简单的状态反馈前馈控制器来跟踪参考信号并补偿负干扰。通过数值仿真和应用实例，将DDMR的跟踪性能和抗扰性能与传统的基于增强扩展状态观测器（EESOBC）的控制方法进行了比较，结果表明了ERESOBC方法的优越性。