Synthesis of Active Disturbance Rejection Controller via Extended State Observer Combined with LQR Controller for Two-Wheeled Line Tracking Robot

摘要

This paper presents a method of synthesizing control laws based on the LQR controller and ADRC method for a two-wheel differential line-following robot when the robot dynamics have uncertain factors. First, the mathematical model includes line-following kinematic and dynamic models. LQR controller is designed based on the linear model of the robot when coincident with the line. When the robot has uncertain factors such as model parameter uncertainty and impact noise, the LQR controller will not ensure the control quality of the system. To overcome this, two observers are designed to observe the linear velocity and angular velocity states of the robot. This ensures more complete and accurate information of the model states in the LQR control law. The effectiveness of the control law is demonstrated through numerical simulation results and compared with the LQR controller.