Tracking Control of Wheeled Mobile Robots with Slippage Based on Active Disturbance Rejection Control

Chao Chen; Haibo Gao; Liang Ding; Zongquan Deng; Haitao Yu; Zhen Liu; Nan Li

doi:10.1109/CYBER.2017.8446283

Tracking Control of Wheeled Mobile Robots with Slippage Based on Active Disturbance Rejection Control

Chao Chen^*
, Haibo Gao
, Liang Ding
, Zongquan Deng
, Haitao Yu
, Zhen Liu
, Nan Li

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Scopus citations

Abstract

Wheeled mobile robots (WMRs) often suffer from the slipping when moving on the loose soil of the surface of the moon during exploration, which are the main causes of WMRs' delay in path tracking. In this paper, an improved linear active disturbance rejection control (LADRC) is introduced to control a WMR in tracking a desired trajectory based on the kinematic model of WMRs with the longitudinal and lateral slippage. The tracking differentiator and nonlinear feedback combination is employed in improved LARDC in order to improve the efficacy of the controller. Furthermore, the method of defining system parameters is discussed. With ADRC controller, the coupling kinematic system is decoupled to three first-order systems, which can use the same controller with little parameters adjustment. Finally, simulation experiments are carried out and the simulation results demonstrate the effectiveness of the controller, which exhibits a satisfactory tracking performance.

Original language	English
Title of host publication	2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1591-1596
Number of pages	6
ISBN (Print)	9781538604892
DOIs	https://doi.org/10.1109/CYBER.2017.8446283
State	Published - 24 Aug 2018
Event	7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017 - Honolulu, United States Duration: 31 Jul 2017 → 4 Aug 2017

Publication series

Name	2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017

Conference

Conference	7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
Country/Territory	United States
City	Honolulu
Period	31/07/17 → 4/08/17

Keywords

WMR
improved LADRC
slippage
tracking control

Access to Document

10.1109/CYBER.2017.8446283

Cite this

Chen, C., Gao, H., Ding, L., Deng, Z., Yu, H., Liu, Z., & Li, N. (2018). Tracking Control of Wheeled Mobile Robots with Slippage Based on Active Disturbance Rejection Control. In 2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017 (pp. 1591-1596). Article 8446283 (2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CYBER.2017.8446283

Chen, Chao ; Gao, Haibo ; Ding, Liang et al. / Tracking Control of Wheeled Mobile Robots with Slippage Based on Active Disturbance Rejection Control. 2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 1591-1596 (2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017).

@inproceedings{6350a81ba24c4af28dc83cd63ad0df41,

title = "Tracking Control of Wheeled Mobile Robots with Slippage Based on Active Disturbance Rejection Control",

abstract = "Wheeled mobile robots (WMRs) often suffer from the slipping when moving on the loose soil of the surface of the moon during exploration, which are the main causes of WMRs' delay in path tracking. In this paper, an improved linear active disturbance rejection control (LADRC) is introduced to control a WMR in tracking a desired trajectory based on the kinematic model of WMRs with the longitudinal and lateral slippage. The tracking differentiator and nonlinear feedback combination is employed in improved LARDC in order to improve the efficacy of the controller. Furthermore, the method of defining system parameters is discussed. With ADRC controller, the coupling kinematic system is decoupled to three first-order systems, which can use the same controller with little parameters adjustment. Finally, simulation experiments are carried out and the simulation results demonstrate the effectiveness of the controller, which exhibits a satisfactory tracking performance.",

keywords = "WMR, improved LADRC, slippage, tracking control",

author = "Chao Chen and Haibo Gao and Liang Ding and Zongquan Deng and Haitao Yu and Zhen Liu and Nan Li",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017 ; Conference date: 31-07-2017 Through 04-08-2017",

year = "2018",

month = aug,

day = "24",

doi = "10.1109/CYBER.2017.8446283",

language = "英语",

isbn = "9781538604892",

series = "2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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booktitle = "2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017",

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}

Chen, C, Gao, H, Ding, L , Deng, Z , Yu, H , Liu, Z & Li, N 2018, Tracking Control of Wheeled Mobile Robots with Slippage Based on Active Disturbance Rejection Control. in 2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017., 8446283, 2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017, Institute of Electrical and Electronics Engineers Inc., pp. 1591-1596, 7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017, Honolulu, United States, 31/07/17. https://doi.org/10.1109/CYBER.2017.8446283

Tracking Control of Wheeled Mobile Robots with Slippage Based on Active Disturbance Rejection Control. / Chen, Chao; Gao, Haibo; Ding, Liang et al.
2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017. Institute of Electrical and Electronics Engineers Inc., 2018. p. 1591-1596 8446283 (2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Tracking Control of Wheeled Mobile Robots with Slippage Based on Active Disturbance Rejection Control

AU - Chen, Chao

AU - Gao, Haibo

AU - Ding, Liang

AU - Deng, Zongquan

AU - Yu, Haitao

AU - Liu, Zhen

AU - Li, Nan

PY - 2018/8/24

Y1 - 2018/8/24

N2 - Wheeled mobile robots (WMRs) often suffer from the slipping when moving on the loose soil of the surface of the moon during exploration, which are the main causes of WMRs' delay in path tracking. In this paper, an improved linear active disturbance rejection control (LADRC) is introduced to control a WMR in tracking a desired trajectory based on the kinematic model of WMRs with the longitudinal and lateral slippage. The tracking differentiator and nonlinear feedback combination is employed in improved LARDC in order to improve the efficacy of the controller. Furthermore, the method of defining system parameters is discussed. With ADRC controller, the coupling kinematic system is decoupled to three first-order systems, which can use the same controller with little parameters adjustment. Finally, simulation experiments are carried out and the simulation results demonstrate the effectiveness of the controller, which exhibits a satisfactory tracking performance.

AB - Wheeled mobile robots (WMRs) often suffer from the slipping when moving on the loose soil of the surface of the moon during exploration, which are the main causes of WMRs' delay in path tracking. In this paper, an improved linear active disturbance rejection control (LADRC) is introduced to control a WMR in tracking a desired trajectory based on the kinematic model of WMRs with the longitudinal and lateral slippage. The tracking differentiator and nonlinear feedback combination is employed in improved LARDC in order to improve the efficacy of the controller. Furthermore, the method of defining system parameters is discussed. With ADRC controller, the coupling kinematic system is decoupled to three first-order systems, which can use the same controller with little parameters adjustment. Finally, simulation experiments are carried out and the simulation results demonstrate the effectiveness of the controller, which exhibits a satisfactory tracking performance.

KW - WMR

KW - improved LADRC

KW - slippage

KW - tracking control

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U2 - 10.1109/CYBER.2017.8446283

DO - 10.1109/CYBER.2017.8446283

M3 - 会议稿件

AN - SCOPUS:85053827762

SN - 9781538604892

T3 - 2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017

SP - 1591

EP - 1596

BT - 2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017

Y2 - 31 July 2017 through 4 August 2017

ER -

Chen C, Gao H, Ding L , Deng Z , Yu H , Liu Z et al. Tracking Control of Wheeled Mobile Robots with Slippage Based on Active Disturbance Rejection Control. In 2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017. Institute of Electrical and Electronics Engineers Inc. 2018. p. 1591-1596. 8446283. (2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017). doi: 10.1109/CYBER.2017.8446283

Tracking Control of Wheeled Mobile Robots with Slippage Based on Active Disturbance Rejection Control

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