On the Robustness and Reliability in the Pose Deformation System of Mobile Robots

A major vulnerability of mobile robots operating in more environments is their fragility in facing disturbances. A two-fold solution is proposed in this paper. First, a deformable structure was designed to reduce turbulence and to adapt to the uneven ground. Second, a novel control strategy is employed to avoid the limitations of the existing methods. In particular, among the existing solutions, the PID controller is known to be severely limited in handling disturbances and failures and the model-based designs all require detailed mathematical model, which may not be readily available, especially in the case of failures. To address these issues, a solution based on active disturbance rejection control is proposed in this paper, for its simplicity in design and tuning and its robustness against parameter variations and even failures in the pose deformation system. The proposed solution is systematically validated in the simulation, and the results are promising. The performance of the system was maintained in the presence of disturbances and uncertain dynamics, and the reliability of the robot is considerably improved when the unknown leg failures occurred.

[1]  Qing Wang,et al.  Stabilization of a class of nonlinear systems with actuator saturation via active disturbance rejection control , 2016, Autom..

[2]  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.

[3]  Koksal Erenturk,et al.  Fractional-Order $\hbox{PI}^{\lambda}\hbox{D}^{\mu}$ and Active Disturbance Rejection Control of Nonlinear Two-Mass Drive System , 2013, IEEE Transactions on Industrial Electronics.

[4]  Shen Yin,et al.  Velocity-Free Fault-Tolerant and Uncertainty Attenuation Control for a Class of Nonlinear Systems , 2016, IEEE Transactions on Industrial Electronics.

[5]  Gernot Herbst,et al.  Practical Active Disturbance Rejection Control: Bumpless Transfer, Rate Limitation, and Incremental Algorithm , 2016, IEEE Transactions on Industrial Electronics.

[6]  Dan Wu,et al.  Limit cycle analysis of active disturbance rejection control system with two nonlinearities. , 2014, ISA transactions.

[7]  Yongduan Song,et al.  Robust Adaptive Fault-Tolerant PID Control of MIMO Nonlinear Systems With Unknown Control Direction , 2017, IEEE Transactions on Industrial Electronics.

[8]  Juan Li,et al.  On the rejection of internal and external disturbances in a wind energy conversion system with direct-driven PMSG. , 2016, ISA transactions.

[9]  Hamid Reza Karimi,et al.  A Robust Observer-Based Sensor Fault-Tolerant Control for PMSM in Electric Vehicles , 2016, IEEE Transactions on Industrial Electronics.

[10]  Ken Chen,et al.  Frequency-Domain Analysis of Nonlinear Active Disturbance Rejection Control via the Describing Function Method , 2013, IEEE Transactions on Industrial Electronics.

[11]  Mario J. Duran,et al.  Fault-Tolerant Control of Six-Phase Induction Motor Drives With Variable Current Injection , 2017, IEEE Transactions on Power Electronics.

[12]  Yuanqing Xia,et al.  Lateral Path Tracking Control of Autonomous Land Vehicle Based on ADRC and Differential Flatness , 2016, IEEE Transactions on Industrial Electronics.

[13]  Yongduan Song,et al.  Neuro-Adaptive Fault-Tolerant Tracking Control of Lagrange Systems Pursuing Targets With Unknown Trajectory , 2017, IEEE Transactions on Industrial Electronics.

[14]  Danwei Wang,et al.  Robust Control Allocation for Spacecraft Attitude Tracking Under Actuator Faults , 2017, IEEE Transactions on Control Systems Technology.

[15]  Yi Huang,et al.  ADRC With Adaptive Extended State Observer and its Application to Air–Fuel Ratio Control in Gasoline Engines , 2015, IEEE Transactions on Industrial Electronics.

[16]  Horacio Coral-Enriquez,et al.  Spatial observer-based repetitive controller: An active disturbance rejection approach , 2015 .

[17]  Antoine Cully,et al.  Robots that can adapt like animals , 2014, Nature.

[18]  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.

[19]  Isaac Chairez,et al.  Robust Trajectory Tracking of a Delta Robot Through Adaptive Active Disturbance Rejection Control , 2015, IEEE Transactions on Control Systems Technology.

[20]  June-Seok Lee,et al.  Open-Circuit Fault-Tolerant Control for Outer Switches of Three-Level Rectifiers in Wind Turbine Systems , 2016, IEEE Transactions on Power Electronics.

[21]  Zhiqiang Gao,et al.  Fractional active disturbance rejection control. , 2016, ISA transactions.

[22]  Xu Yang,et al.  Real-Time Optimization of Automatic Control Systems With Application to BLDC Motor Test Rig , 2017, IEEE Transactions on Industrial Electronics.

[23]  Dezhen Yang,et al.  Reliability analysis of a novel design of pose deformation system for mobile robots through Bond Graph and Simulink , 2016, 2016 IEEE Industry Applications Society Annual Meeting.

[24]  Donghai Li,et al.  Input Shaping enhanced Active Disturbance Rejection Control for a twin rotor multi-input multi-output system (TRMS). , 2016, ISA transactions.

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

[26]  Qibing Jin,et al.  On active disturbance rejection in temperature regulation of the proton exchange membrane fuel cells , 2015 .

[27]  R Madoński,et al.  Application of a disturbance-rejection controller for robotic-enhanced limb rehabilitation trainings. , 2014, ISA transactions.

[28]  Fang Liu,et al.  A Two-Layer Active Disturbance Rejection Controller Design for Load Frequency Control of Interconnected Power System , 2016, IEEE Transactions on Power Systems.

[29]  Shumei Cui,et al.  Application of Linear Active Disturbance Rejection Controller for Sensorless Control of Internal Permanent-Magnet Synchronous Motor , 2016, IEEE Transactions on Industrial Electronics.

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

[31]  David Johan Christensen,et al.  A distributed and morphology-independent strategy for adaptive locomotion in self-reconfigurable modular robots , 2013, Robotics Auton. Syst..