Prescribed-time zero-error active disturbance rejection control for uncertain wheeled mobile robots subject to skidding and slipping

ABSTRACTABSTRACTThis paper investigates the prescribed-time control problem for a class of wheeled mobile robot (WMR) subject to nonparametric skidding, slipping and input disturbance in an inner-outer loop framework. First, by backstepping approach, the virtual linear and angular velocities are acquired to follow the reference path to one special point. Then, different from the conventional ones for canonical integral cascade model, a novel prescribed-time extended state observer (PTESO) is designed for WMR such that the unknown skidding and slipping can be observed and compensated. By developing the active disturbance rejection control technique, the zero-error control is achieved for WMR in prescribed time instead of ultimately uniform boundedness. Moreover, the influence of the uncertainty is attenuated by the compensation scheme based on the PTESO estimation. Finally, some simulation results are presented to demonstrate the superiority and effectiveness of the developed method.KEYWORDS: Prescribed-time controlprescribed-time extended state observer(PTESO)wheeled mobile robot Disclosure statementNo potential conflict of interest was reported by the author(s).Data availability statementThe data and materials that support the results or analyses presented in this paper are freely available from the corresponding author upon request .Additional informationFundingThis work was supported by the National Natural Science Foundationof China (62173146, 62073143, 61922063, 62003139), Foundation of Key Laboratory of System Control and Information Processing, Ministry of Education,P. R. China (Scip202208), Shanghai Natural Science Foundation (22ZR1416200, 20ZR1415200), and the Innovation Program of Shanghai MunicipalEducation Commission (2021-01-07-00-02-E00107).Notes on contributorsZhichen LiZhichen Li received the B.S. degree in automation and the Ph.D. degree in pattern recognition and intelligentsystems from North China Electric Power University, Beijing, China, in 2011 and 2017, respectively. From 2017 to 2019, he was a Post-Doctoral Fellow with the East China University of Science and Technology, Shanghai, China, and currently is an Associate Professor. His research interests include networked control systems, and active disturbance rejection control.Yu ZhaoYu Zhao received the B. S. degree in automation from East China University of Science and Technology,Shanghai, China, in 2020. He is currently pursuing the Master degree in control science and engineering with the East China University of Science and Technology, Shanghai, China. His current research interests include multi-agent system, ADRC, prescribed-time control for autonomous unmanned system.Huaicheng YanHuaicheng Yan received the B.Sc. degree in automatic control from the Wuhan University of Technology, Wuhan, China, in 2001, and the Ph.D. degree in control theory and control engineering from the Huazhong University of Science and Technology, Wuhan, in 2007. In 2011, he was a Research Fellow with the University of Hong Kong, Hong Kong, for three months, and also a Research Fellow with the City University of Hong Kong, Hong Kong, in 2012, for six months. He is currently a Professor with the School of Information Science and Engineering, East China University of Science and Technology, Shanghai, China. His research interests include networked control systems, multiagent systems and robotics. Prof. Yan is an Associate Editor for IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS, International Journal of Robotics and Automation, and IEEE OPEN JOURNAL OF CIRCUITS AND SYSTEMS.Meng WangMeng Wang received the B.Eng. degree in automation from Northeastern University at Qinhuangdao, Qinhuangdao, China, in 2011, and the M.Eng. degree in control science and engineering from the Harbin Institute of Technology, Harbin, China, in 2013, and the Ph.D. degree from the Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Hong Kong, in 2018.He is currently an Associate Professor with the School of Information Science and Engineering, East China University of Science and Technology, Shanghai, China. His research interests include robust control and filtering, fuzzy systems and control, and their engineering applications.Lu ZengLu Zeng received the B.S. degree in mechanical design, manufacturing, and automation from the East China University of Science and Technology, Shanghai, China, in 2008, and the M.S. degree in mechanical manufacturing and automation from Tongji University, Shanghai, in 2011. He is currently working on electronic information toward the Ph.D. degree with the School of Academy for Engineering and Technology,Fudan University, Shanghai. His research interests include mobile robot and networked control systems.