Fixed-Time Active Disturbance Rejection Control and Its Application to Wheeled Mobile Robots

被引：66
作者：
Chang, Shaoping [1 ]
Wang, Yijing [1 ]
Zuo, Zhiqiang [1 ]
机构：
[1] Tianjin Univ, Sch Elect & Informat Engn, Tianjin Key Lab Proc Measurement & Control, Tianjin 300072, Peoples R China
来源：
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS | 2021年 / 51卷 / 11期
基金：
中国国家自然科学基金;
关键词：
Observers; Convergence; Mobile robots; Robust control; Nonlinear systems; Uncertainty; Tuning; Active disturbance rejection control (ADRC); fixed-time controller (FTC); fixed-time extended state observer (ESO); wheeled mobile robot (WMR); TRAJECTORY TRACKING CONTROL; FINITE-TIME; OBSERVER; SYSTEMS; CONSENSUS; STABILIZATION;
D O I：
10.1109/TSMC.2020.2966077
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This article is concerned with the fixed-time active disturbance rejection control approach for nonlinear systems subject to uncertainties and disturbances. First, a new type of extended state observer (ESO) which can attain fixed-time convergence is established to estimate the states and the total disturbance. Then a fixed-time controller based on the above ESO is developed to achieve high precision control performance. Finally, the proposed method is utilized for the wheeled mobile robot where the experiment validates the effectiveness of the theoretical results.
引用
收藏
页码：7120 / 7130
页数：11
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