Performance Recovery High-Order Pole-Zero Cancellation Control for Command-Following Rover Vehicle Applications via Active Damping Injection Techniques

This study considers both a robot and its actuator dynamics to construct a performance recovery controller for rover vehicle applications. The resultant controller structures the simple single loop forms for linear velocity and yaw angle measurements, equipping the feed-forward compensators against disturbances caused by uncertainties of the motion equations. The salient aspects of this paper are (a) the order reduction observers estimate the velocities and accelerations independent from the motion equations; the simple observer-based order reduction output-feedback controller forms the proportional-integral-derivative and proportional-integral-double derivative with the nonlinearly structured gains; and (c) the closed-loop system guarantees to recover the closed-loop responses to the first-order desired system exponentially. A prototype rover vehicle with a MyRIO1900 processor validates the practical benefits of these three novelties above.