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This paper presents an Active disturbance rejection controller (ADRC) based lateral control algorithm for tracked robots on stairs, with the heading angle estimated by the vision system fixed on the robot. It can help the robot keeping its posture in order to avoid the serious influences caused by a wrong operation. Or with some further efforts on intelligent control, the robot can also auto guided...
Because of the strong non-linearity and uncertainty, the dynamics restraints of autopilots, as well as the effects of wave disturbances, designing a high performance ship course controller is always a difficult work. This paper presents a design of the ship course auto disturbance rejection controller (ADRC) based on the nonlinear mathematical model of ship course locomotion with autopilot restrictions...
In order to achieve precise navigation, mobile robot (MR) lateral controller should adapt well to uncertainties, such as longitudinal velocity varieties, disturbances, etc. It makes the design of MR lateral controller always a hard work. Firstly, MR lateral motion mathematic model was built and the active disturbance rejection controller (ADRC) design method was introduced. Then MR lateral motion...
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