Robust trajectory tracking for omnidirectional robots by means of anti-peaking linear active disturbance rejection
This article presents a Linear Active Disturbance Rejection scheme for the robust trajectory tracking control of an Omnidirectional robot, including an additional saturation element in the control design to improve the transient closed-loop response by including a saturation-input strategy in the Ex...
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| Published in | Robotics and autonomous systems Vol. 183; p. 104842 |
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| Main Authors | , , , , , |
| Format | Journal Article |
| Language | English |
| Published |
Elsevier B.V
01.01.2025
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| Subjects | |
| Online Access | Get full text |
| ISSN | 0921-8890 |
| DOI | 10.1016/j.robot.2024.104842 |
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| Abstract | This article presents a Linear Active Disturbance Rejection scheme for the robust trajectory tracking control of an Omnidirectional robot, including an additional saturation element in the control design to improve the transient closed-loop response by including a saturation-input strategy in the Extended State Observer design, mitigating the possible arising peaking phenomenon. In addition, the controller is implemented in the kinematic model of the robotic system, assuming as the available information the position and orientation measurement and concerning the system structure, it is just known the order of the system and the control gain matrix as well. A wide set of laboratory experiments, including a comparison with a standard ADRC (i.e. without the proposed anti-peaking mechanism) and a PI-based control including an anti-peaking proposal, in the presence of different disturbance elements in the terrain of smooth and abrupt nature is carried out to formulate a comprehensive assessment of the proposal which validate the practical advantages of the proposal in robust trajectory tracking of the kind of robots.
•An alternative anti-peaking approach enhances the ADRC transients.•A Lyapunov stability test of the observer-based controller is provided.•The proposal improves the tracking behavior in trajectory tracking tasks.•The ADRC scheme is proposed for a mobile robot subject to terrain disturbances. |
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| AbstractList | This article presents a Linear Active Disturbance Rejection scheme for the robust trajectory tracking control of an Omnidirectional robot, including an additional saturation element in the control design to improve the transient closed-loop response by including a saturation-input strategy in the Extended State Observer design, mitigating the possible arising peaking phenomenon. In addition, the controller is implemented in the kinematic model of the robotic system, assuming as the available information the position and orientation measurement and concerning the system structure, it is just known the order of the system and the control gain matrix as well. A wide set of laboratory experiments, including a comparison with a standard ADRC (i.e. without the proposed anti-peaking mechanism) and a PI-based control including an anti-peaking proposal, in the presence of different disturbance elements in the terrain of smooth and abrupt nature is carried out to formulate a comprehensive assessment of the proposal which validate the practical advantages of the proposal in robust trajectory tracking of the kind of robots.
•An alternative anti-peaking approach enhances the ADRC transients.•A Lyapunov stability test of the observer-based controller is provided.•The proposal improves the tracking behavior in trajectory tracking tasks.•The ADRC scheme is proposed for a mobile robot subject to terrain disturbances. |
| ArticleNumber | 104842 |
| Author | Madonski, Rafal Ramírez-Neria, Mario Luviano-Juárez, Alberto Hernández-Martínez, Eduardo Gamaliel Fernández-Anaya, Guillermo Lozada-Castillo, Norma |
| Author_xml | – sequence: 1 givenname: Mario orcidid: 0000-0001-5935-9083 surname: Ramírez-Neria fullname: Ramírez-Neria, Mario email: mario.ramirez@ibero.mx organization: InIAT Institute of Applied Research and Technology of Universidad Iberoamericana Ciudad de Mexico, Prolongación Paseo de la Reforma 880, Colonia Lomas de Santa Fé, Ciudad de México 01219, Mexico – sequence: 2 givenname: Rafal orcidid: 0000-0002-1798-0717 surname: Madonski fullname: Madonski, Rafal email: rafal.madonski@jnu.edu.cn organization: Faculty of Automatic Control, Electronics and Computer Science, Silesian University of Technology, Gliwice 44-100, Poland – sequence: 3 givenname: Eduardo Gamaliel orcidid: 0000-0002-2716-6196 surname: Hernández-Martínez fullname: Hernández-Martínez, Eduardo Gamaliel email: gamaliel.hernandez@ibero.mx organization: InIAT Institute of Applied Research and Technology of Universidad Iberoamericana Ciudad de Mexico, Prolongación Paseo de la Reforma 880, Colonia Lomas de Santa Fé, Ciudad de México 01219, Mexico – sequence: 4 givenname: Norma orcidid: 0000-0002-6553-1924 surname: Lozada-Castillo fullname: Lozada-Castillo, Norma email: nlozadac@ipn.mx organization: Instituto Politécnico Nacional - UPIITA, Av. IPN 2580 Col. Barrio la Laguna Ticomán, Ciudad de México 07400, Mexico – sequence: 5 givenname: Guillermo orcidid: 0000-0002-9695-3409 surname: Fernández-Anaya fullname: Fernández-Anaya, Guillermo email: guillermo.fernandez@ibero.mx organization: InIAT Institute of Applied Research and Technology of Universidad Iberoamericana Ciudad de Mexico, Prolongación Paseo de la Reforma 880, Colonia Lomas de Santa Fé, Ciudad de México 01219, Mexico – sequence: 6 givenname: Alberto orcidid: 0000-0001-8790-4165 surname: Luviano-Juárez fullname: Luviano-Juárez, Alberto email: aluvianoj@ipn.mx organization: Instituto Politécnico Nacional - UPIITA, Av. IPN 2580 Col. Barrio la Laguna Ticomán, Ciudad de México 07400, Mexico |
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| Keywords | Active disturbance rejection control Peaking Extended state observers Omnidirectional robots |
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| Title | Robust trajectory tracking for omnidirectional robots by means of anti-peaking linear active disturbance rejection |
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