A New Nonlinear Dynamic Speed Controller for a Differential Drive Mobile Robot

A disturbance/uncertainty estimation and disturbance rejection technique are proposed in this work and verified on a ground two-wheel differential drive mobile robot (DDMR) in the presence of a mismatched disturbance. The offered scheme is the an improved active disturbance rejection control (IADRC) approach-based enhanced dynamic speed controller. To efficiently eliminate the effect produced by the system uncertainties and external torque disturbance on both wheels, the IADRC is adopted, whereby all the torque disturbances and DDMR parameter uncertainties are conglomerated altogether and considered a generalized disturbance. This generalized disturbance is observed and cancelled by a novel nonlinear sliding mode extended state observer (NSMESO) in real-time. Through numerical simulations, various performance indices are measured, with a reduction of 86% and 97% in the ITAE index for the right and left wheels, respectively. Finally, these indices validate the efficacy of the proposed dynamic speed controller by almost damping the chattering phenomena and supplying a high insusceptibility in the closed-loop system against torque disturbance.

[1]  Mouayad A. Sahib,et al.  A New Nonlinear Controller for the Maximum Power Point Tracking of Photovoltaic Systems in Micro Grid Applications Based on Modified Anti-Disturbance Compensation , 2022, Sustainability.

[2]  Quanxin Zhu,et al.  Event-triggered predictive control of nonlinear stochastic systems with output delay , 2022, Autom..

[3]  Quanxin Zhu,et al.  Extended dissipative anti-disturbance control for delayed switched singular semi-Markovian jump systems with multi-disturbance via disturbance observer , 2021, Autom..

[4]  Ahmad Taher Azar,et al.  Autonomous navigation and obstacle avoidance of an omnidirectional mobile robot using swarm optimization and sensors deployment , 2020, International Journal of Advanced Robotic Systems.

[5]  Quanxin Zhu,et al.  Stabilization of Stochastic Nonlinear Delay Systems With Exogenous Disturbances and the Event-Triggered Feedback Control , 2019, IEEE Transactions on Automatic Control.

[6]  Ahmad Taher Azar,et al.  Robust Path Tracking of Mobile Robot Using Fractional Order PID Controller , 2019, AMLTA.

[7]  Ibraheem Kasim Ibraheem,et al.  An Improved Active Disturbance Rejection Control for a Differential Drive Mobile Robot with Mismatched Disturbances and Uncertainties , 2018, ArXiv.

[8]  Bao-Zhu Guo,et al.  Active Disturbance Rejection Control for Nonlinear Systems: An Introduction , 2017 .

[9]  Bao-Zhu Guo,et al.  Output tracking for a class of nonlinear systems with mismatched uncertainties by active disturbance rejection control , 2017, Syst. Control. Lett..

[10]  Zhengtao Ding,et al.  Global output regulation for a class of lower triangular nonlinear systems: A feedback domination approach , 2017, Autom..

[11]  Jie Li,et al.  On the Necessity, Scheme, and Basis of the Linear–Nonlinear Switching in Active Disturbance Rejection Control , 2017, IEEE Transactions on Industrial Electronics.

[12]  Ibraheem Kasim Ibraheem,et al.  From PID to Nonlinear State Error Feedback Controller , 2017 .

[13]  I. Ibraheem,et al.  On the Improved Nonlinear Tracking Differentiator based Nonlinear PID Controller Design , 2018, 1803.02908.

[14]  Zhiyong Chen,et al.  Output Regulation and Active Disturbance Rejection Control: Unified Formulation and Comparison , 2016 .

[15]  Yaolong Chen,et al.  Tracking Control of Ball Screw Drives Using ADRC and Equivalent-Error-Model-Based Feedforward Control , 2016, IEEE Transactions on Industrial Electronics.

[16]  Bismark Claure Torrico,et al.  Trajectory tracking control of a nonholonomic mobile robot with differential drive , 2016, 2016 IEEE Biennial Congress of Argentina (ARGENCON).

[17]  Guangjun Liu,et al.  Backstepping sliding mode force/position control for constrained reconfigurable manipulator based on extended state observer , 2016, 2016 12th World Congress on Intelligent Control and Automation (WCICA).

[18]  Chen Zengqiang,et al.  Design of PID and ADRC based quadrotor helicopter control system , 2016, 2016 Chinese Control and Decision Conference (CCDC).

[19]  Chun-Liang Lin,et al.  Estimating evasive acceleration for ballistic targets using an extended state observer , 2016, IEEE Transactions on Aerospace and Electronic Systems.

[20]  Bingyou Liu,et al.  Speed Control Based on ESO for the Pitching Axis of Satellite Cameras , 2016 .

[21]  J. Cerkala,et al.  NONHOLONOMIC MOBILE ROBOT WITH DIFFERENTIAL CHASSIS MATHEMATICAL MODELLING AND IMPLEMENTATION IN SIMULINK WITH FRICTION IN DYNAMICS , 2016 .

[22]  Ibraheem Kasim Ibraheem,et al.  Improved Sliding Mode Nonlinear Extended State Observer based Active Disturbance Rejection Control for Uncertain Systems with Unknown Total Disturbance , 2016 .

[23]  Ijlal Haider,et al.  Analysis of middleware and ADRC based techniques for networked control systems , 2015, 2015 16th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA).

[24]  Yang Yu,et al.  Back-stepping control of two-link flexible manipulator based on an extended state observer , 2015 .

[25]  Yi Wu,et al.  ADRC or adaptive controller - A simulation study on artificial blood pump , 2015, Comput. Biol. Medicine.

[26]  A. Hasib Chowdhury,et al.  Comparative study of ADRC and PID based Load Frequency Control , 2015, 2015 International Conference on Electrical Engineering and Information Communication Technology (ICEEICT).

[27]  S. Drid,et al.  Backstepping controller for a wheeled mobile robot , 2015, 2015 4th International Conference on Systems and Control (ICSC).

[28]  Yuanqing Xia,et al.  Adaptive control for attitude synchronisation of spacecraft formation via extended state observer , 2014 .

[29]  Wenchao Xue,et al.  On performance analysis of ADRC for a class of MIMO lower-triangular nonlinear uncertain systems. , 2014, ISA transactions.

[30]  Wenchao Xue,et al.  Active disturbance rejection control: methodology and theoretical analysis. , 2014, ISA transactions.

[31]  Rached Dhaouadi,et al.  Dynamic Modelling of Differential-Drive Mobile Robots using Lagrange and Newton-Euler Methodologies: A Unified Framework , 2013, ICRA 2013.

[32]  Farhan A. Salem,et al.  Dynamic and Kinematic Models and Control for Differential Drive Mobile Robots , 2013 .

[33]  P. Olver Nonlinear Systems , 2013 .

[34]  Haibo Du,et al.  Global finite-time stabilisation using bounded feedback for a class of non-linear systems , 2012 .

[35]  Xinhui Liu,et al.  Research n enhanced ADRC algorithm for hydraulic active suspension , 2011, Proceedings 2011 International Conference on Transportation, Mechanical, and Electrical Engineering (TMEE).

[36]  Zhenxiong Zhou,et al.  Permanent magnet synchronous motor control system based on auto disturbances rejection controller , 2011, 2011 International Conference on Mechatronic Science, Electric Engineering and Computer (MEC).

[37]  Yantao Tian,et al.  Trajectory tracking control of ball and plate system based on auto-disturbance rejection controller , 2009, 2009 7th Asian Control Conference.

[38]  Jingqing Han,et al.  From PID to Active Disturbance Rejection Control , 2009, IEEE Trans. Ind. Electron..

[39]  Tore Hägglund,et al.  Advanced PID Control , 2005 .

[40]  Kishan G. Mehrotra,et al.  Characterization of a Class of Sigmoid Functions with Applications to Neural Networks , 1996, Neural Networks.