{"title":"Data-Driven Active Disturbance Rejection Control of Plant-Protection Unmanned Ground Vehicle Prototype: A Fuzzy Indirect Iterative Learning Approach","authors":"Tao Chen;Ruiyuan Zhao;Jian Chen;Zichao Zhang","doi":"10.1109/JAS.2023.124158","DOIUrl":null,"url":null,"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.","PeriodicalId":54230,"journal":{"name":"Ieee-Caa Journal of Automatica Sinica","volume":null,"pages":null},"PeriodicalIF":15.3000,"publicationDate":"2024-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10488093","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Ieee-Caa Journal of Automatica Sinica","FirstCategoryId":"94","ListUrlMain":"https://ieeexplore.ieee.org/document/10488093/","RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
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.
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.
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