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

2021 ◽  
Author(s):  
Sihang Li ◽  
Jinhui Zhang ◽  
Kai Zhao ◽  
Yakai Zhang ◽  
Zhongqi Sun ◽  
...  
Keyword(s):  
Disturbance Rejection ◽  
Tracking Control ◽  
Active Disturbance Rejection Control ◽  
Trajectory Tracking Control ◽  
Control Approach ◽  
Variable Gain ◽  
Mobile Vehicle ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Mecanum Wheel

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.

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