{"title":"leader-follower场景下无人履带车辆的自抗扰控制:离散时间实现和现场试验验证","authors":"Salem-Bilal Amokrane , Mohammed Zouaoui Laidouni , Touati Adli , Rafal Madonski , Momir Stanković","doi":"10.1016/j.mechatronics.2023.103114","DOIUrl":null,"url":null,"abstract":"<div><p>This paper presents a systematic design of an active disturbance rejection control (ADRC) system for unmanned tracked vehicles (UTVs) in leader-follow formation. Two ADRC controllers are designed for the lateral and the longitudinal channels of the UTV based on control errors in the cross-track and the along-track directions. Through simulations, the proposed ADRC approach is first shown to outperform the conventional PI/PID controllers in scenarios involving sudden changes in the leader motion dynamics, slippage disturbances, and measurement noise. Then, a comprehensive experimental validation of the proposed leader–follower control is performed using a laboratory UTV equipped with a camera and laser sensors (to enable the calculation of error signals). In order to provide more effective interaction between the human (leader) and the UTV (follower) during the leader–follower task, a camera-based subsystem for human pose recognition is developed and deployed. Finally, the experimental results obtained outdoors demonstrate that the proposed ADRC-based leader–follower UTV control system achieves high tracking capabilities, robustness against slippage disturbances, and adaptability to changing environmental conditions.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":null,"pages":null},"PeriodicalIF":3.1000,"publicationDate":"2023-12-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0957415823001708/pdfft?md5=bf78488b55412df922cb77d32da20fff&pid=1-s2.0-S0957415823001708-main.pdf","citationCount":"0","resultStr":"{\"title\":\"Active disturbance rejection control for unmanned tracked vehicles in leader–follower scenarios: Discrete-time implementation and field test validation\",\"authors\":\"Salem-Bilal Amokrane , Mohammed Zouaoui Laidouni , Touati Adli , Rafal Madonski , Momir Stanković\",\"doi\":\"10.1016/j.mechatronics.2023.103114\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><p>This paper presents a systematic design of an active disturbance rejection control (ADRC) system for unmanned tracked vehicles (UTVs) in leader-follow formation. Two ADRC controllers are designed for the lateral and the longitudinal channels of the UTV based on control errors in the cross-track and the along-track directions. Through simulations, the proposed ADRC approach is first shown to outperform the conventional PI/PID controllers in scenarios involving sudden changes in the leader motion dynamics, slippage disturbances, and measurement noise. Then, a comprehensive experimental validation of the proposed leader–follower control is performed using a laboratory UTV equipped with a camera and laser sensors (to enable the calculation of error signals). In order to provide more effective interaction between the human (leader) and the UTV (follower) during the leader–follower task, a camera-based subsystem for human pose recognition is developed and deployed. Finally, the experimental results obtained outdoors demonstrate that the proposed ADRC-based leader–follower UTV control system achieves high tracking capabilities, robustness against slippage disturbances, and adaptability to changing environmental conditions.</p></div>\",\"PeriodicalId\":49842,\"journal\":{\"name\":\"Mechatronics\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":3.1000,\"publicationDate\":\"2023-12-06\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://www.sciencedirect.com/science/article/pii/S0957415823001708/pdfft?md5=bf78488b55412df922cb77d32da20fff&pid=1-s2.0-S0957415823001708-main.pdf\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Mechatronics\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S0957415823001708\",\"RegionNum\":3,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"AUTOMATION & CONTROL SYSTEMS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Mechatronics","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0957415823001708","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
Active disturbance rejection control for unmanned tracked vehicles in leader–follower scenarios: Discrete-time implementation and field test validation
This paper presents a systematic design of an active disturbance rejection control (ADRC) system for unmanned tracked vehicles (UTVs) in leader-follow formation. Two ADRC controllers are designed for the lateral and the longitudinal channels of the UTV based on control errors in the cross-track and the along-track directions. Through simulations, the proposed ADRC approach is first shown to outperform the conventional PI/PID controllers in scenarios involving sudden changes in the leader motion dynamics, slippage disturbances, and measurement noise. Then, a comprehensive experimental validation of the proposed leader–follower control is performed using a laboratory UTV equipped with a camera and laser sensors (to enable the calculation of error signals). In order to provide more effective interaction between the human (leader) and the UTV (follower) during the leader–follower task, a camera-based subsystem for human pose recognition is developed and deployed. Finally, the experimental results obtained outdoors demonstrate that the proposed ADRC-based leader–follower UTV control system achieves high tracking capabilities, robustness against slippage disturbances, and adaptability to changing environmental conditions.
期刊介绍:
Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.