相关论文: Active Disturbance Rejection Control for Trajector…

This paper presents a systematic design of an active disturbance rejection control (ADRC) system for unmanned tracked vehicles (UTVs) in leader-follow formation. Two ADRC controllers are designed for the lateral and the longitudinal…

As an alternative to both classical PID-type and modern model-based approaches to solving control problems, active disturbance rejection control (ADRC) has gained significant traction in recent years. With its simple tuning method and…

Practical applications of controllers often impose further requirements on the implementation beyond the actual control performance, such as the ability to switch between manual and automatic control or between different control laws or…

Autonomous surface vehicles (ASVs) are influenced by environmental disturbances such as wind and waves, making accurate trajectory tracking a persistent challenge in dynamic marine conditions. In this paper, we propose an efficient…

In this work, an advanced motion controller is proposed for buck converter-fed DC motor systems. The design is based on an idea of active disturbance rejection control (ADRC) with its key component being a custom observer capable of…

Accurate control of autonomous marine robots still poses challenges due to the complex dynamics of the environment. In this paper, we propose a Deep Reinforcement Learning (DRL) approach to train a controller for autonomous surface vessel…

Motion control of underwater robotic vehicles is a demanding task with great challenges imposed by external disturbances, model uncertainties and constraints of the operating workspace. Thus, robust motion control is still an open issue for…

In this paper a new strategy based on disturbance and uncertainty (DU) estimation and attenuation technique is proposed and tested on the nonlinear kinematic model of the differential drive mobile robot (DDMR). The proposed technique is an…

Marine robots must maintain precise control and ensure safety during tasks like ocean monitoring, even when encountering unpredictable disturbances that affect performance. Designing algorithms for uncrewed surface vehicles (USVs) requires…

In this study, an active disturbance rejection control (ADRC) toolbox for MATLAB/Simulink is introduced. Although ADRC has already been established as a powerful robust control framework with successful industrial implementations and strong…

This paper proposes a new Active Disturbance Rejection based robust trajectory tracking controller design method in state space. It can compensate not only matched but also mismatched disturbances. Robust state and control input references…

Autonomous underwater vehicles (AUV) have become the de facto vehicle for remote operations involving oceanography, inspection, and monitoring tasks. These vehicles operate in different and often challenging environments; hence, the design…

All practical systems often pose a problem of finite control capability, which can notably degrade the performance if not properly addressed. Since actuator input bounds are typically known, integrating actuator saturation considerations…

The increasing demand for target tracking, environmental surveys, surveillance and mapping requires multi-axis gimbal systems with high tracking and stabilization performance. In this paper, first, computed torque model is generated to…

A suboptimal active disturbance rejection controller (S-ADRC) is proposed for second-order systems with unknown time-varying nonlinear dynamics. The output-feedback controller guarantees a global convergence to the vicinity of an optimal…

Uncrewed Surface Vehicles (USVs) are a popular and efficient type of marine craft that find application in a large number of water-based tasks. When multiple USVs operate in the same area, they may be required to dock to each other to…

To support the adoption of active disturbance rejection control (ADRC) in industrial practice, this article aims at improving both understanding and implementation of ADRC using traditional means, in particular via transfer functions and a…

Experimental testing of an unmanned surface vehicle (USV) has been performed to evaluate the performance of two low-level controllers when displacement and drag properties are time-varying and uncertain. The USV is a 4.3 meter long, 150…

Autonomous ground vehicles (AGVs) are receiving increasing attention, and the motion planning and control problem for these vehicles has become a hot research topic. In real applications such as material handling, an AGV is subject to large…

This paper theoretically investigates the closed-loop performance of active disturbance rejection control (ADRC) on a third-order linear plant with relative degree 3, subject to a class of exogenous disturbances. While PID control cannot be…