关键词: 移动机械臂, 轨迹跟踪, 自抗扰控制, 状态观测器, 遗传算法

Abstract: Mobile manipulator has the characteristics of high nonlinearity and strong coupling,which brings challenges to trajectory tracking control.On this basis,to improve the mobile manipulator trajectory tracking control performance,the introduction of a self immunity control strategy was introduced to design the corresponding controller for the tracking problem of configuration space and task space of the mobile manipulator respectively by using the method of dynamic decoupling.The state observer was used to observe the total disturbance on the system inside and outside in real time,so that the system moved according to the given trajectory.As there were many parameters of Active Disturbance Rejection Control(ADRC),a method to optimize the parameters of ADRC based on genetic algorithm was proposed to avoid man-made setting trouble.Through the experiment of comparing with PID controller and ADRC,the ADRC strategy based on genetic algorithm had the best trajectory tracking effect and the smallest tracking error in the whole process.It had good observation performance and strong robustness to the internal and external uncertain disturbances of the system.

Key words: mobile manipulator, trajectory tracking, active disturbance rejection control, state observer, genetic algorithms