Journal
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
Volume 32, Issue 4, Pages 1990-2006Publisher
WILEY
DOI: 10.1002/rnc.5926
Keywords
active disturbance rejection control; composite disturbance rejection controller; extended state observer; four-mecanum-wheel mobile vehicle; tracking-differentiator
Funding
- National Key Research & Development Program of China [2018YFB1700602]
- National Natural Science Foundation of China [61873030]
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A novel variable gain active disturbance rejection control (ADRC) approach is developed for the trajectory tracking control of a four-mecanum-wheel mobile vehicle in this article. The proposed approach includes variable gain tracking-differentiator (VGTD), variable gain extended state observer (VGESO), and composite disturbance rejection controller. Error-based variable gains are incorporated in VGTD, VGESO, and controller to improve transient performances.
In this article, a novel variable gain active disturbance rejection control (ADRC) approach is developed for the trajectory tracking control of four-mecanum-wheel mobile vehicle. The proposed variable gain ADRC approach includes three parts, variable gain tracking-differentiator (VGTD), variable gain extended state observer (VGESO), and composite disturbance rejection controller. The error-based variable gains are, respectively, incorporated in VGTD, VGESO, and controller to improve the transient performances. Moreover, stability analysis of the VGTD tracking error system, VGESO estimation error system, and the closed-loop system are also provided. Finally, simulation and experiment results show the effectiveness of the proposed control approach.
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