A structure-improved extended state observer based control with application to an omnidirectional mobile robot.

This paper presents a structure-improved extended state observer (SESO) based trajectory tracking control scheme with application to an omnidirectional mobile robot. To alleviate the initial peaking phenomenon of the traditional extended state observer (TESO), a SESO with reduced order is proposed by improving the structure of TESO. Moreover, the designed SESO can achieve superior estimation performances. The total disturbances are estimated by SESO and then compensated in the controller. Then a phase-based nonlinear proportional-differential controller with time-varying gains is applied for high trajectory tracking performance. The stability of SESO and the closed-loop system are analyzed, respectively. Finally, the effectiveness of the proposed control scheme is validated through simulations in both frequency domain and time domain as well as experimental tests.

[1]  Jeng-Tze Huang,et al.  Smooth Switching Robust Adaptive Control for Omnidirectional Mobile Robots , 2015, IEEE Transactions on Control Systems Technology.

[2]  P. S. Londhe,et al.  Robust nonlinear PID-like fuzzy logic control of a planar parallel (2PRP-PPR) manipulator. , 2016, ISA transactions.

[3]  Qing Wang,et al.  Robust partial integrated guidance and control for missiles via extended state observer. , 2016, ISA transactions.

[4]  Chenguang Yang,et al.  Trajectory Tracking of an Omni-Directional Wheeled Mobile Robot Using a Model Predictive Control Strategy , 2018 .

[5]  Bao-Zhu Guo,et al.  On the convergence of an extended state observer for nonlinear systems with uncertainty , 2011, Syst. Control. Lett..

[6]  Ming Yue,et al.  Constrained Adaptive Robust Trajectory Tracking for WIP Vehicles Using Model Predictive Control and Extended State Observer , 2018, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[7]  Paolo Mercorelli,et al.  A simple nonlinear PD control for faster and high-precision positioning of servomechanisms with actuator saturation , 2019, Mechanical Systems and Signal Processing.

[8]  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..

[9]  Javier Moreno-Valenzuela,et al.  Nonlinear PID-Type Controller for Quadrotor Trajectory Tracking , 2018, IEEE/ASME Transactions on Mechatronics.

[10]  Liu Hsu,et al.  Global tracking for robot manipulators using a simple causal PD controller plus feedforward , 2009, Robotica.

[11]  Xinshan Zhu,et al.  Extended State Observer Based Robust Friction Compensation for Tracking Control of an Omnidirectional Mobile Robot , 2019 .

[12]  Yangmin Li,et al.  Feedforward nonlinear PID control of a novel micromanipulator using Preisach hysteresis compensator , 2015 .

[13]  John M. Hollerbach,et al.  A nonlinear PD controller for force and contact transient control , 1995 .

[14]  António M. Lopes,et al.  Stabilization of Uncertain Multi‐Order Fractional Systems Based on the Extended State Observer , 2018 .

[15]  Zhouhua Peng,et al.  Output-Feedback Path-Following Control of Autonomous Underwater Vehicles Based on an Extended State Observer and Projection Neural Networks , 2018, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[16]  Chunwan Lv,et al.  On Convergence of Extended State Observer for a Class of MIMO Uncertain Stochastic Nonlinear Systems , 2018, IEEE Access.

[17]  Ling Zhao,et al.  Sliding mode control for a two-joint coupling nonlinear system based on extended state observer. , 2018, ISA transactions.

[18]  Ming Yang,et al.  Flux Immunity Robust Predictive Current Control With Incremental Model and Extended State Observer for PMSM Drive , 2017, IEEE Transactions on Power Electronics.

[19]  Yuanqing Xia,et al.  Active Disturbance Rejection Control for Active Suspension System of Tracked Vehicles With Gun , 2018, IEEE Transactions on Industrial Electronics.

[20]  Bao-Zhu Guo,et al.  Extended state observer for uncertain lower triangular nonlinear systems , 2015, Syst. Control. Lett..

[21]  J. Jim Zhu,et al.  Omni-directional mobile robot controller based on trajectory linearization , 2008, Robotics Auton. Syst..

[22]  Wen Yu,et al.  PID control for robot manipulators with neural compensation , 2012, World Automation Congress 2012.

[23]  Didier Dumur,et al.  Combined Structure-Control Optimal Design of the Stewart-Gough Robot , 2015, 2015 12th Latin American Robotics Symposium and 2015 3rd Brazilian Symposium on Robotics (LARS-SBR).

[24]  Xiaoou Li,et al.  Stable PID control for robot manipulators with neural compensation , 2012, 2012 IEEE 51st IEEE Conference on Decision and Control (CDC).

[25]  Bao-Zhu Guo,et al.  A Novel Extended State Observer for Output Tracking of MIMO Systems With Mismatched Uncertainty , 2018, IEEE Transactions on Automatic Control.

[26]  Meng Wang,et al.  Position Control for Flexible Joint Robot Based on Online Gravity Compensation With Vibration Suppression , 2018, IEEE Transactions on Industrial Electronics.

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

[28]  Bao-Zhu Guo,et al.  A nonlinear extended state observer based on fractional power functions , 2017, Autom..

[29]  Damiano Rotondo,et al.  A Fault-Hiding Approach for the Switching Quasi-LPV Fault-Tolerant Control of a Four-Wheeled Omnidirectional Mobile Robot , 2015, IEEE Transactions on Industrial Electronics.