The research of mobile manipulator trajectory trac king cooperative control based on the ADRC

Aiming at the coupling problem of the mobile manipulator system, which makes the system fail to achieve mobile platform and manipulator cooperative motion tracking control, constructed a framework for the robot moving platform and the manipulator arm, it achieves trajectory tracking control respectively, a kind of control strategy based on Active Disturbance Rejection Control (ADRC) is proposed in this paper. Framework redundant decoupling mechanism is introduced to control movement of the mobile arm decomposition model in this strategy, achieving mobile platform and manipulator trajectory tracking control separately. The appropriate ADRC controller is designed, and the nonlinear Extended State Observer (ESO) disturbance is applied to estimate and compensate for disturbance. The simulation results verify the effectiveness and robustness of the ADRC in solving multi input and multi output nonlinear systems with time-varying and strong coupling dynamic characteristics, new ideas are puts forward for the trajectory tracking control of mobile manipulators.