Xiaozhao Fan

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This brief presents a novel control scheme for some problems on tracking and obstacle avoidance of a wheeled mobile robot with nonholonomic constraint. An extended state observer is introduced to estimate the unknown disturbances and velocity information of the wheeled mobile robot. A nonlinear controller is designed to achieve tracking target and obstacle(More)
In this paper, we propose a novel control scheme to solve trajectory tracking problem of two-link flexible manipulator system. The partly linear flexible system is obtained via using the nonlinear decoupling feedback control method. An extended state observer is introduced to estimate the system's nonlinear part. Back-stepping controller is designed to(More)
This paper presents a new control scheme on trajectory tracking of wheeled mobile robot with nonholonomic constraints. Extended state observer is introduced to estimate unknowndisturbances and velocity information. A robust tracking controller is designed to implement the accurate trajectory tracking and disturbance compensation. By theoretical, position(More)
This paper presents an improved active disturbance rejection controller to study the trajectory tracking problem of a pneumatic servo system. It is a challenging job to track a given trajectory for pneumatic system with strong nonlinearity. The designed active disturbance rejection controller consists of tracking differentiator, extended state observer and(More)
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