Electronic Differential Based On Active Disturbance Rejection Control For a Four In-Wheel Drive Electric-Vehicle (Go-Kart)

Castro-Heredia, Omar; Linares-Flores, J.; García‐Rodríguez, Carlos; Salazar-Oropeza, Jesus; Ramirez-Cardenas, O. D.; Heredia-Barba, Ruben Rubens

doi:10.1109/iprecon52453.2021.9640933

Cited by 4 publications

(1 citation statement)

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“…The digital torque coupling for the load-sharing could be implemented via a communication topology using undirected and connected graphs. Then, cooperative strategies, such as the leader-following consensus, could be used [48,49].…”

Section: Eso Design For the Decentralized Adr Controllermentioning

confidence: 99%

A Cooperative ADRC-Based Approach for Angular Velocity Synchronization and Load-Sharing in Servomechanisms

et al. 2022

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This paper is concerned with designing a dynamical synchronization (via a robust cooperative control) of an electromechanical system network (EMSN), consisting of nonidentical brushed DC motors, where only the motors’ angular velocity measurements are available. The challenge of the proposed approach is that the actuation provided by the motor needs to handle external disturbances to achieve the velocity tracking task and handle the interaction between both motors cooperatively to share the load and the disturbance rejection. The control’s basis involves differential flatness and an active disturbance rejection control (ADRC) framework augmented using ideas from the graph theory analysis and multi-agent networks. Experimental results verify the theoretical developments and show the effectiveness of the proposed control strategy despite unexpectedly changing load disturbance and parameters uncertainties. The proposed algorithm is suitable for embedded use due to its simplicity. It can be applied to a broad spectrum of mechatronic systems where dual-motor drive arrangements are necessary.

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Section: Eso Design For the Decentralized Adr Controllermentioning

confidence: 99%