Hameed Ibrahim A, Abbud Luay Hashem, Abdulsaheb Jaafar Ahmed, Azar Ahmad Taher, Mezher Mohanad, Jawad Anwar Ja'afar Mohamad, Abdul-Adheem Wameedh Riyadh, Ibraheem Ibraheem Kasim, Kamal Nashwa Ahmad
Department of ICT and Natural Sciences, Norwegian University of Science and Technology, Larsgårdsve-gen, 2, 6009 Ålesund, Norway.
Air Conditioning and Refrigeration Techniques Engineering Department, Al-Mustaqbal University College, Hillah 51001, Iraq.
Entropy (Basel). 2023 Mar 16;25(3):514. doi: 10.3390/e25030514.
A disturbance/uncertainty estimation and disturbance rejection technique are proposed in this work and verified on a ground two-wheel differential drive mobile robot (DDMR) in the presence of a mismatched disturbance. The offered scheme is the an improved active disturbance rejection control (IADRC) approach-based enhanced dynamic speed controller. To efficiently eliminate the effect produced by the system uncertainties and external torque disturbance on both wheels, the IADRC is adopted, whereby all the torque disturbances and DDMR parameter uncertainties are conglomerated altogether and considered a generalized disturbance. This generalized disturbance is observed and cancelled by a novel nonlinear sliding mode extended state observer (NSMESO) in real-time. Through numerical simulations, various performance indices are measured, with a reduction of 86% and 97% in the index for the right and left wheels, respectively. Finally, these indices validate the efficacy of the proposed dynamic speed controller by almost damping the chattering phenomena and supplying a high insusceptibility in the closed-loop system against torque disturbance.
本文提出了一种干扰/不确定性估计与干扰抑制技术，并在存在失配干扰的地面两轮差动驱动移动机器人（DDMR）上进行了验证。所提供的方案是一种基于改进型自抗扰控制（IADRC）方法的增强型动态速度控制器。为了有效消除系统不确定性和外部扭矩干扰对两轮的影响，采用了IADRC，将所有扭矩干扰和DDMR参数不确定性集中在一起，视为广义干扰。这种广义干扰由一种新型非线性滑模扩张状态观测器（NSMESO）实时观测并消除。通过数值模拟，测量了各种性能指标，右轮和左轮的指标分别降低了86%和97%。最后，这些指标验证了所提出的动态速度控制器的有效性，该控制器几乎抑制了抖振现象，并在闭环系统中对扭矩干扰具有高度的不敏感性。
