Trajectory tracking control of WMRs with lateral and longitudinal slippage based on active disturbance rejection control

2018 ◽  
Vol 107 ◽  
pp. 236-245 ◽  
Author(s):  
Chao Chen ◽  
Haibo Gao ◽  
Liang Ding ◽  
Weihua Li ◽  
Haitao Yu ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
Tracking Control ◽  
Active Disturbance Rejection Control ◽  
Trajectory Tracking Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

scholarly journals Trajectory tracking control of a quadrotor UAV based on sliding mode active disturbance rejection control

2019 ◽  
Vol 24 (4) ◽  
Author(s):  
Yong Zhang ◽  
Zengqiang Chen ◽  
Mingwei Sun ◽  
Xinghui Zhang
Keyword(s):  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
Tracking Control ◽  
Sliding Mode ◽  
Reference Trajectory ◽  
Active Disturbance Rejection Control ◽  
Trajectory Tracking Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Control Scheme

This paper proposes a sliding mode active disturbance rejection control scheme to deal with trajectory tracking control problems for the quadrotor unmanned aerial vehicle (UAV). Firstly, the differential signal of the reference trajectory can be obtained directly by using the tracking differentiator (TD), then the design processes of the controller can be simplified. Secondly, the estimated values of the UAV's velocities, angular velocities, total disturbance can be acquired by using extended state observer (ESO), and the total disturbance of the system can be compensated in the controller in real time, then the robustness and anti-interference capability of the system can be improved. Finally, the sliding mode controller based on TD and ESO is designed, the stability of the closed-loop system is proved by Lyapunov method. Simulation results show that the control scheme proposed in this paper can make the quadrotor track the desired trajectory quickly and accurately.

Application Study of Active Disturbance Rejection Control Technology

2011 ◽  
Vol 383-390 ◽  
pp. 701-706 ◽  
Author(s):  
Xin Xin Shi ◽  
Si Qin Chang
Keyword(s):  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
Tracking Control ◽  
Tracking Error ◽  
Linear Actuator ◽  
Control Technology ◽  
Active Disturbance Rejection Control ◽  
Trajectory Tracking Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

Active disturbance rejection control technology and its application to trajectory tracking control of a linear actuator are presented in this paper. Working principle of each part of this control technology is given, and parameter tuning method is discussed which helps control engineers to use this technology well. In order to test the performance of active disturbance rejection control technology, a sinusoidal trajectory tracking control system of a linear actuator is constructed. Simulation and experimental results show that the introduced control technology can achieve small tracking error at low velocity where friction is the main disturbance. Active disturbance rejection control technology provides a good choice for control engineers in actual industry applications with its simple structure, convenience to use and excellent performance.

High-precision trajectory tracking design and simulation for six degree of freedom robot based on improved active disturbance rejection control

2018 ◽  
Vol 233 (10) ◽  
pp. 3659-3669 ◽  
Author(s):  
Fengjun Chen ◽  
Jinqi Liao ◽  
Jun Xiong ◽  
Shaohui Yin ◽  
Shuai Huang ◽  
...  
Keyword(s):  
High Precision ◽  
Trajectory Tracking ◽  
Control Strategy ◽  
Disturbance Rejection ◽  
Tracking Control ◽  
Degree Of Freedom ◽  
Experimental Simulation ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

High-precision trajectory tracking control is an important factor in the performance of industrial robots. In this study, a high-precision trajectory tracking strategy was proposed for controlling a degree of freedom serial robot on the basis of improved active disturbance rejection control. An independent control strategy of a single joint was adopted, and the corresponding decoupling control law was designed. An attitude trajectory-planning algorithm based on the circular-blending quaternion curve was improved. The position and attitude trajectories were transformed into the joint trajectory by using a kinematics equation and inverse velocity Jacobian matrix. The above-mentioned transformation link was used as a preprocessing link of the active disturbance rejection control, which is used for replacing the tracking differentiator of a typical active disturbance rejection control to eliminate the effect of the tracking delay. An experimental simulation was conducted by combining MATLAB and ADAMS. Simulation results show that the proposed control strategy can perform the tracking control of a task-space trajectory. The tracking precision of position and attitude trajectories were 0.01 mm and 0.01 s, respectively.

scholarly journals Adaptive Active Disturbance Rejection Control of Solar Tracking Systems with Partially Known Model

Mathematics ◽  
2021 ◽  
Vol 9 (22) ◽  
pp. 2871
Author(s):  
Sergio Isai Palomino-Resendiz ◽  
Norma Beatriz Lozada-Castillo ◽  
Diego Alonso Flores-Hernández ◽  
Oscar Octavio Gutiérrez-Frías ◽  
Alberto Luviano-Juárez
Keyword(s):  
Disturbance Rejection ◽  
Tracking System ◽  
Adaptive Observer ◽  
Identification System ◽  
Active Disturbance Rejection Control ◽  
Test Bed ◽  
Trajectory Tracking Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Solar Tracking

In this article, the trajectory tracking control of a solar tracking system is tackled by means of an adaptive active disturbance rejection control scheme. The state and disturbance estimation system is based on the combination of a time varying identification system and an adaptive observer. The stability and robustness of the controller is mathematically tested by means of the second method of Lyapunov, and its effectiveness is experimentally tested in a robotic test bed, achieving both lower energy consumption and better tracking results with respect to a PID-based controller.

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