Active Disturbance Rejection Control for Wheeled Mobile Robots with Parametric Uncertainties

被引：6

作者：

Zhu, Yicheng ^{[1
]}

Huang, Yao ^{[1
]}

Su, Jianbo ^{[1
]}

Pu, Cuiping ^{[2
]}

机构：

[1] Shanghai Jiao Tong Univ, Dept Automat, CO-200240 Shanghai, Peoples R China

[2] Kunming Univ, Coll Mech & Elect Engn, CO-650214 Kunming, Yunnan, Peoples R China

来源：

IFAC PAPERSONLINE | 2020年 / 53卷 / 02期

基金：

中国国家自然科学基金;

关键词：

Wheeled mobile robots; Parametric uncertainty; Input-state scaling; Active disturbance rejection control; Stabilizing controller; EXPONENTIAL STABILIZATION; SYSTEMS; DESIGN;

D O I：

10.1016/j.ifacol.2020.12.1877

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, an efficient controller design method is proposed based on active disturbance rejection control (ADRC) scheme for stabilization problem of wheeled mobile robots with parametric uncertainties, which can make the system converge quickly. By using the extended state observer (ESO), both the system states and the unknown parametric uncertainties could be estimated. In addition, the input-state scaling technique is used to transform the system into two decoupled subsystems. Based on the decoupled subsystems, a switching controller and ADRC are designed. Simulation results show that the proposed scheme can stabilize the wheeled mobile robot system asymptotically despite the presence of parametric uncertainties. Copyright (C) 2020 The Authors.

引用

页码：1355 / 1360

页数：6

共 28 条

[1]

Ashoorirad M, 2007, 2006 INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION, P289

[2] Exponential stabilization of a wheeled mobile robot via discontinuous control [J].

Astolfi, A .

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 1999, 121 (01) :121-126

[3]

Brockett R. W., 1983, Differ. Geometric Control Theory, V27, P181

[4]

[陈增强 Chen Zengqiang], 2013, [自动化学报, Acta Automatica Sinica], V39, P574

[5] A robust decentralized load frequency controller for interconnected power systems [J].

Dong, Lili ;

Zhang, Yao ;

Gao, Zhiqiang .

ISA TRANSACTIONS, 2012, 51 (03) :410-419

[6] OUTPUT-FEEDBACK STABILIZATION OF FULLY LINEARIZABLE SYSTEMS [J].

ESFANDIARI, F ;

KHALIL, HK .

INTERNATIONAL JOURNAL OF CONTROL, 1992, 56 (05) :1007-1037

[7] Finite-time stabilization of uncertain nonholonomic systems in feedforward-like form by output feedback [J].

Gao, Fangzheng ;

Wu, Yuqiang ;

Zhang, Zhongcai .

ISA TRANSACTIONS, 2015, 59 :125-132

[8]

Gao ZQ, 2003, P AMER CONTR CONF, P4989

[9]

Goldstein Herbert, 2002, Classical mechanics

[10] Output feedback controller design of a unicycle-type mobile robot with delayed measurements [J].

Guechi, E. -H. ;

Lauber, J. ;

Dambrine, M. ;

Defoort, M. .

IET CONTROL THEORY AND APPLICATIONS, 2012, 6 (05) :726-733

← 1 2 3 →