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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

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Published on: October 14, 2017

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

Ibrahim A Hameed¹, Luay Hashem Abbud², Jaafar Ahmed Abdulsaheb³

¹Department of ICT and Natural Sciences, Norwegian University of Science and Technology, Larsgårdsve-gen, 2, 6009 Ålesund, Norway.

Entropy (Basel, Switzerland)

|March 29, 2023

Summary

This summary is machine-generated.

This study introduces an improved active disturbance rejection control (IADRC) for mobile robots. The novel approach effectively rejects uncertainties and disturbances, enhancing robot speed control performance.

Keywords:

active disturbance rejection control chattering phenomenon extended state observer mobile robot speed controller system uncertainties torque disturbance

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Area of Science:

Robotics
Control Systems Engineering
Mechatronics

Background:

Mobile robots, such as two-wheel differential drive mobile robots (DDMRs), are susceptible to performance degradation due to system uncertainties and external disturbances.
Effective disturbance rejection and uncertainty estimation are critical for robust control and reliable operation of DDMRs.

Purpose of the Study:

To propose and validate an improved active disturbance rejection control (IADRC) technique for enhancing the dynamic speed control of DDMRs.
To develop a robust control scheme capable of estimating and rejecting generalized disturbances, including parameter uncertainties and external torque disturbances.

Main Methods:

The proposed method utilizes an improved active disturbance rejection control (IADRC) strategy integrated into a dynamic speed controller.
A novel nonlinear sliding mode extended state observer (NSMESO) is employed to observe and cancel a generalized disturbance, which encompasses all system uncertainties and external torque disturbances.
The technique was verified through numerical simulations on a ground-based DDMR.

Main Results:

The proposed IADRC-based controller demonstrated significant performance improvements, with an 86% reduction in the Integral of Time Absolute Error (ITAE) for the right wheel and a 97% reduction for the left wheel.
The controller effectively mitigated chattering phenomena, a common issue in sliding mode control.
The system exhibited high insusceptibility to torque disturbances in the closed-loop configuration.

Conclusions:

The developed IADRC approach with the NSMESO provides an effective solution for disturbance rejection and uncertainty compensation in DDMRs.
The proposed dynamic speed controller significantly enhances control accuracy and robustness against external disturbances.
The results validate the efficacy of the proposed technique for improving the performance and reliability of mobile robot navigation systems.