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

被引：28
|
作者：
Yang, Hongjiu [1 ]
Guo, Mingchao [2 ]
Xia, Yuanqing [3 ]
Sun, Zhongqi [3 ]
机构：
[1] Tianjin Univ, Sch Elect & Informat Engn Proc Measurement & Cont, Tianjin Key Lab, Tianjin, Peoples R China
[2] Yanshan Univ, Inst Elect Engn, Qinhuangdao, Hebei, Peoples R China
[3] Beijing Inst Technol, Sch Automat, Beijing, Peoples R China
来源：
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2020年 / 30卷 / 01期
基金：
中国国家自然科学基金;
关键词：
active disturbance rejection control; dual closed-loop control; model predictive control; tacking control; wheeled mobile robot; STABILIZATION; STABILITY; OBSERVER;
D O I：
10.1002/rnc.4750
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：80 / 99
页数：20
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