Trajectory tracking control for four-mecanum-wheel mobile vehicle: A variable gain active disturbance rejection control approach

Sihang Li; Jinhui Zhang; Kai Zhao; Yakai Zhang; Zhongqi Sun; Yuanqing Xia

doi:10.1002/rnc.5926

Trajectory tracking control for four-mecanum-wheel mobile vehicle: A variable gain active disturbance rejection control approach

Sihang Li, Jinhui Zhang^*, Kai Zhao, Yakai Zhang, Zhongqi Sun, Yuanqing Xia

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology

Research output: Contribution to journal › Article › peer-review

8 Citations (Scopus)

Abstract

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.

Original language	English
Pages (from-to)	1990-2006
Number of pages	17
Journal	International Journal of Robust and Nonlinear Control
Volume	32
Issue number	4
DOIs	https://doi.org/10.1002/rnc.5926
Publication status	Published - 10 Mar 2022

Keywords

active disturbance rejection control
composite disturbance rejection controller
extended state observer
four-mecanum-wheel mobile vehicle
tracking-differentiator

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10.1002/rnc.5926

Cite this

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abstract = "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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AU - Zhao, Kai

AU - Zhang, Yakai

AU - Sun, Zhongqi

AU - Xia, Yuanqing

PY - 2022/3/10

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AB - 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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Trajectory tracking control for four-mecanum-wheel mobile vehicle: A variable gain active disturbance rejection control approach

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Keywords

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