Dual closed-loop tracking control for wheeled mobile robots via active disturbance rejection control and model predictive control

Hongjiu Yang; Mingchao Guo; Yuanqing Xia; Zhongqi Sun

doi:10.1002/rnc.4750

Dual closed-loop tracking control for wheeled mobile robots via active disturbance rejection control and model predictive control

Hongjiu Yang^*
, Mingchao Guo
, Yuanqing Xia
, Zhongqi Sun

^*Corresponding author for this work

School of Automation

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

40 Citations (Scopus)

Abstract

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.

Original language	English
Pages (from-to)	80-99
Number of pages	20
Journal	International Journal of Robust and Nonlinear Control
Volume	30
Issue number	1
DOIs	https://doi.org/10.1002/rnc.4750
Publication status	Published - 10 Jan 2020

Keywords

active disturbance rejection control
dual closed-loop control
model predictive control
tacking control
wheeled mobile robot

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10.1002/rnc.4750

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abstract = "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.",

keywords = "active disturbance rejection control, dual closed-loop control, model predictive control, tacking control, wheeled mobile robot",

author = "Hongjiu Yang and Mingchao Guo and Yuanqing Xia and Zhongqi Sun",

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AU - Yang, Hongjiu

AU - Guo, Mingchao

AU - Xia, Yuanqing

AU - Sun, Zhongqi

PY - 2020/1/10

Y1 - 2020/1/10

N2 - 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.

AB - 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.

KW - active disturbance rejection control

KW - dual closed-loop control

KW - model predictive control

KW - tacking control

KW - wheeled mobile robot

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JF - International Journal of Robust and Nonlinear Control

IS - 1

ER -

Dual closed-loop tracking control for wheeled mobile robots via active disturbance rejection control and model predictive control

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Keywords

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