Tele‐aiming control design for reconnaissance robot using a strong tracking multi‐model extended super‐twisting observer

Abstract

AbstractIn this study, a tele‐aiming control system for reconnaissance robots is proposed, capable of enabling operators to quickly control the robot to aim at and track the manoeuvring target with random motion characteristics under measurement noise. To track such manoeuvring targets, a cascaded multi‐model super‐twisting observer is designed. First, the system uncertainty and the inertial impact force disturbance generated during rapid tele‐aiming are expanded into a lumped disturbance state. Subsequently, a strong tracking filter is employed to filter and estimate the system output and the lumped disturbance, and the output of the filter is input into the multi‐model extended state super‐twisting observer. The final second‐order state estimation and lumped disturbance estimation of the augmented system are conducted in accordance with the weighted sum of all super‐twisting observers. Lastly, a non‐singular terminal sliding mode controller is designed to compensate for the lumped disturbance and achieve the fast trajectory tracking. To verify the effectiveness of the proposed observer‐based controller, a series of manoeuvring target tracking experiments was performed. As revealed by the experimental results, the proposed controller can quickly control the reconnaissance robot to aim at and track the manoeuvring target with random abrupt motion characteristics under measurement noise disturbance.