Data-Driven Active Disturbance Rejection Control of Plant-Protection Unmanned Ground Vehicle Prototype: A Fuzzy Indirect Iterative Learning Approach

IF 15.3 1区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Ieee-Caa Journal of Automatica Sinica Pub Date : 2024-04-01 DOI:10.1109/JAS.2023.124158

Tao Chen;Ruiyuan Zhao;Jian Chen;Zichao Zhang

引用次数: 0

Abstract

Dear Editor, This letter proposes a fuzzy indirect iterative learning (FIIL) active disturbance rejection control (ADRC) scheme to address the impact of uncertain factors of plant-protection unmanned ground vehicle (UGV), in which ADRC is a data-driven model-free control algorithm that only relies on the input and output data of the system. Based on the established nonlinear time-varying dynamic model including dynamic load (medicine box), the FIIL technology is adopted to turn the bandwidth and control channel gain online, in which the fuzzy logic system is used to update the gain parameters of iterative learning in real time. Simulation and experiment show the FIIL-ADRC scheme has better control performance.

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植物保护无人地面飞行器原型的数据驱动主动干扰抑制控制：模糊间接迭代学习法

亲爱的编辑，本文提出了一种模糊间接迭代学习（FIIL）主动干扰抑制控制（ADRC）方案来解决植物保护无人地面车辆（UGV）不确定因素的影响，其中ADRC是一种数据驱动的无模型控制算法，仅依赖于系统的输入和输出数据。基于已建立的包括动态负载（药箱）在内的非线性时变动态模型，采用 FIIL 技术实现带宽和控制通道增益的在线转换，其中模糊逻辑系统用于实时更新迭代学习的增益参数。仿真和实验表明，FIIL-ADRC 方案具有更好的控制性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Ieee-Caa Journal of Automatica Sinica Engineering-Control and Systems Engineering

CiteScore

23.50

自引率

11.00%

发文量

880

期刊介绍： The IEEE/CAA Journal of Automatica Sinica is a reputable journal that publishes high-quality papers in English on original theoretical/experimental research and development in the field of automation. The journal covers a wide range of topics including automatic control, artificial intelligence and intelligent control, systems theory and engineering, pattern recognition and intelligent systems, automation engineering and applications, information processing and information systems, network-based automation, robotics, sensing and measurement, and navigation, guidance, and control. Additionally, the journal is abstracted/indexed in several prominent databases including SCIE (Science Citation Index Expanded), EI (Engineering Index), Inspec, Scopus, SCImago, DBLP, CNKI (China National Knowledge Infrastructure), CSCD (Chinese Science Citation Database), and IEEE Xplore.