Speed Control of Omnidirectional Mobile Unmanned Vehicle Based on LADRC

In order to solve the problem that the omnidirectional moving unmanned vehicle cannot travel at the desired speed due to external disturbance, a linear active disturbance rejection controller is designed to control the speed of the omnidirectional moving unmanned vehicle under variable disturbance conditions. Considering that the unmanned vehicle only moves on the plane, the unmanned vehicle model is simplified into a plane model, and all unknown information is estimated as a disturbance. Through the kinematics and dynamics modeling of the unmanned vehicle, parameters based on the bandwidth design method are set to achieve real-time compensation for internal dynamics and external disturbances. Finally, the speed control of the unmanned vehicle is tested. The results show that the designed controller can achieve the desired control effect. Compared with the traditional PID control, the controller can track the desired speed faster and enter the steady state, and can withstand a certain degree of environmental interference.