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Dual closed‐loop tracking control for wheeled mobile robots via active disturbance rejection control and model predictive control
Author(s) -
Yang Hongjiu,
Guo Mingchao,
Xia Yuanqing,
Sun Zhongqi
Publication year - 2019
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.4750
Subject(s) - control theory (sociology) , inner loop , model predictive control , active disturbance rejection control , state observer , computer science , tracking (education) , loop (graph theory) , control system , mobile robot , stability (learning theory) , control engineering , controller (irrigation) , engineering , control (management) , robot , mathematics , artificial intelligence , nonlinear system , physics , psychology , pedagogy , electrical engineering , quantum mechanics , combinatorics , machine learning , agronomy , biology
Summary A dual closed‐loop tracking control is proposed for a wheeled mobile robot based on active disturbance rejection control (ADRC) and model predictive control (MPC). In the inner loop system, the ADRC scheme with an extended state observer (ESO) is proposed to estimate and compensate external disturbances. In the outer loop system, the MPC strategy is developed to generate a desired velocity for the inner loop dynamic system subject to a diamond‐shaped input constraint. Both effectiveness and stability analysis are given for the ESO and the dual closed‐loop system, respectively. Simulation results demonstrate the performances of the proposed control scheme.