Fixed-Time Active Disturbance Rejection Control and Its Application to Wheeled Mobile Robots
Shaoping Chang, Yijing Wang, Zhiqiang Zuo
Abstract
This article is concerned with the fixed-time active disturbance rejection control approach for nonlinear systems subject to uncertainties and disturbances. First, a new type of extended state observer (ESO) which can attain fixed-time convergence is established to estimate the states and the total disturbance. Then a fixed-time controller based on the above ESO is developed to achieve high precision control performance. Finally, the proposed method is utilized for the wheeled mobile robot where the experiment validates the effectiveness of the theoretical results.
Topics & Concepts
Control theory (sociology)Disturbance (geology)Mobile robotConvergence (economics)Nonlinear systemComputer scienceActive disturbance rejection controlController (irrigation)RobotControl engineeringControl (management)State observerEngineeringArtificial intelligenceAgronomyEconomic growthQuantum mechanicsBiologyEconomicsPhysicsPaleontologyAdaptive Control of Nonlinear SystemsControl and Dynamics of Mobile RobotsDistributed Control Multi-Agent Systems