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

摘要： 移动机械臂具有高度非线性、强耦合等特点,为轨迹跟踪控制带来了挑战。为提高移动机械臂轨迹跟踪控制性能,引入一种自抗扰控制策略,采用动力学解耦的方法,对移动机械臂的配置空间和任务空间的跟踪问题分别设计相应的控制器,利用状态观测器实时地对系统内外总扰动进行观测,从而使系统按照给定的轨迹运动。针对自抗扰控制器参数较多,人为整定比较麻烦,提出了基于遗传算法对自抗扰控制器参数进行优化的方法。最后通过与PID控制器、自抗扰控制器实验进行对比,结果表明基于遗传算法自抗扰控制策略的轨迹跟踪效果最好,整个过程的跟踪误差最小,具有良好的观测性能,对于系统的内外不确定性干扰具有很强的鲁棒性。

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