Open AccessActive Disturbance Rejection Control for Wheeled Mobile Robots with Parametric Uncertainties
Author(s) -
Yicheng Zhu,
Yao Huang,
Jianbo Su,
Cuiping Pu
Publication year - 2020
Publication title -
ifac-papersonline
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.308
H-Index - 72
eISSN - 2405-8971
pISSN - 2405-8963
DOI - 10.1016/j.ifacol.2020.12.1877
Subject(s) - control theory (sociology) , parametric statistics , mobile robot , active disturbance rejection control , controller (irrigation) , scheme (mathematics) , control engineering , computer science , state observer , disturbance (geology) , state (computer science) , robot , observer (physics) , control (management) , engineering , artificial intelligence , mathematics , nonlinear system , algorithm , quantum mechanics , agronomy , statistics , biology , physics , mathematical analysis , paleontology
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.
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