A Distributed Cooperative Framework of Robust Trajectory Tracking Control for Six-Wheel Independent Driving and Steering Robot

摘要

The driving and steering capabilities of the six-wheeled independent robot enable it to adapt to complex terrain and perform a variety of tasks. But the traditional control method cannot fully utilize its flexibility of independent driving of each wheel, and the control effect is poor in complex environments. In this work , we propose a multi-wheel cooperative control method in a distributed framework. The method leverages the robot’s independent driving and steering capabilities, employing a distributed model predictive control framework to synchronize the motion of six wheels. This is achieved by formulating individual wheel predictive control objectives and establishing inter-wheel trajectory and synchronization constraints, enabling coordinated multi-wheel locomotion. Considering the unknown perturbation factors such as road slippage and rugged terrain in the actual environment, an error model-based extended state observer algorithm is designed as a feed-forward controller to estimate the unknown perturbations and generate the control volume gain matrix by combining the estimated values to improve the robot’s adaptability. The control method effectively solves the motion control problem of the robot in the complex environment and verifies its effectiveness and robustness in practical applications.