IEEE Micromouse control based on ADRC algorithm

Zheng, Ziyuan; Dai, Shenghua; Cao, Jingming; Yao, Liang

doi:10.1109/iaeac47372.2019.8997552

Cited by 3 publications

(2 citation statements)

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“…Active disturbance rejection control (ADRC) has gained relevance in recent years, due to its growing successful application [1–4] and the recent research increasing its theoretical background [1, 5–9]. Sometimes presented as an evolution of the classical proportional integral derivative control (PID) [1], the ADRC technique is based in four fundamental elements: a simple differential equation as a transient trajectory generator, a noise‐tolerant tracking differentiator, the non‐linear control laws and the use of the concept of total disturbance estimation and rejection.…”

Section: Introductionmentioning

confidence: 99%

“…Disturbance reduction is a key control objective in systems with low damped resonances for many applications, such as control of microphonics in superconducting cavities for particle accelerators, [2–4]. ADRC is a good candidate for these applications, but the effect of relatively small time‐delays can be crucial due to the stability problems introduced by this delay, which limits its application and effective disturbance rejection.…”

Section: Introductionmentioning

confidence: 99%

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Modified active disturbance rejection control scheme for systems with time delay

Jugo

Elejaga

Echevarria

2023

IET Control Theory & Appl

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Active disturbance rejection control (ADRC) has been gaining attention in recent years and has shown its performance in multiple applications including non‐linear ones, without the need of accurate models. Despite the good results of this technique, time delay can deteriorate the performance of ADRC, limiting its application. Here, the effect of time delay on the stability of a linear ADRC is analysed, using an alternative mathematical description, and a new effective design technique, based on a modified ADRC scheme, is proposed to overcome the delay effect while maintaining the disturbance rejection properties of the ADRC. An experimental example is discussed considering a system with low damped mechanical resonances, showing good results using the proposed technique.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Modified active disturbance rejection control scheme for systems with time delay

Jugo

Elejaga

Echevarria

2023

IET Control Theory & Appl

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Research on Development-oriented IEEE MicroMouse Simulation System

Cao

Dai

et al. 2021

J. Phys.: Conf. Ser.

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With the popularity of MicroMouse project growing up, more and more people have participated in this activity. However, it is not efficient to develop and debug a MicroMouse in a real environment, and it is difficult to observe the details of the robot’s motion state. This paper proposes a development-oriented IEEE MicroMouse simulation system that can accurately simulate the decision-making, control algorithm, and sensor information collection of real MicroMouse on embedded device, so that the development of mobile robots can free from the restricted of real environment.

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