Speed Control of Mobile Robot Based on LADCR

Abstract

The mobile robot platform is widely used in recently years. Speed control is a very important task in the robot system. In order to make the system be able to track the target speed stably and accurately, it must realize the disturbance isolation. In this paper, a second order linear active disturbance rejection control (LADRC) is proposed and used for speed loop to improve the anti-disturbance ability. The simulation results show that the system where the speed loop uses LADRC has better control effect and stronger anti-interference ability compared to the traditional PID controller with weaker anti-disturbance ability.