2018/05/25 by Ibraheem Kasim Ibraheem, Ibraheem, Ibraheem Kasim, Wameedh Riyadh Abdul-Adeem +1
Engineering · #Adaptive Control of Nonlinear Systems #Advanced Control Systems Design #Control and Dynamics of Mobile Robots #FOS: Computer and information sciences #FOS: Electrical engineering #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1805.12170
openalex publication_date 2018/05/25 · openalex created_date 2022/08/29 · openalex updated_date 2026/07/28
In this paper a new strategy based on disturbance and uncertainty (DU)\nestimation and attenuation technique is proposed and tested on the nonlinear\nkinematic model of the differential drive mobile robot (DDMR). The proposed\ntechnique is an improved version of the Active Disturbance Rejection Control\n(ADRC) strategy suggested by J. Han. The ADRC is used to actively reject\ndisturbances caused by the unknown exogenous signals and the matched\nuncertainties of the system model, which are lumped all together and attributed\nas a total disturbance. In this work, the considered system is assumed to be\naffine and the total disturbance and the input are considered to be on\ndifferent channels. To deal with the mismatched disturbances and uncertainties,\nthe total disturbance has been converted into a matched one. Then, based on the\nimproved ADRC (IADRC), the dynamic performance of the DDMR has been enhanced by\nestimating the total disturbance and canceling it from the system. Through\ndigital simulations, different performance measures are applied, and they all\nindicate the effectiveness of the proposed IADRC by almost removing the\nchattering phenomenon and providing a high immunity in the closed-loop system\nagainst torque disturbance.\n