Abstract
The strategy of active disturbance rejection control (ADRC) and its applications in intelligence evolution for service robot are summarized. It is also shown that the philosophy of ADRC is consistent with the essential characteristics of intelligence evolution. Most importantly, we concentrate on five core issues which will be encountered when applying ADRC to deal with intelligence evolution for service robot, that is, how to eliminate the impact of unknown composite disturbances, how to handle the nonholonomic constraints in uncalibrated visual servoing, how to realize eye-hand-torque coordination, how to deal with the disturbance in simultaneous localization and mapping (SLAM), and how to reject the imperfections induced by network in human-robot interaction. The main purpose of this paper is to clarify the challenges encountered on intelligence evolution for service robot when one applies ADRC to, hoping that more and more researchers can give some suggestions or work together to deal with these problems, and flourishing results of ADRC from both theory and applications.
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This work was supported by the National Natural Science Foundation of China (Nos. 61533012, 91748120, 61521063).
Guofei XIANG received the B.Sc. degree in Automation and the M.Sc. degree in Control Science and Engineering both from Sichuan University, Chengdu, China, in 2012 and 2015, respectively. He is currently working towards the Ph.D. degree in the Department of Automation, Shanghai Jiao Tong University, Shanghai, China. His current research interests include theory and practice of dynamic systems and controls with application to robotics.
Yao HUANG received the B.Sc. degree from Tianjin Polytechnic University, Tianjin, and the M.Sc. degree in Instrument Science and Technology from the Shanghai University, Shanghai, China, in 2011 and 2014, respectively. She is currently working toward the Ph.D. degree with the Department of Electronic Information and Electrical Engineering, Research Center of Intelligent Robotics, Shanghai Jiao Tong University, Shanghai. Her research interests are in computer vision and visual servoing.
Jingrui YU received the B.Sc. degree in Electrical and Information Engineering from Northwestern Polytechnical University, Xi’an, China, in 2016. He is currently working towards the Ph.D. degree in the Department of Automation, Shanghai Jiao Tong University, Shanghai, China. His current research interest is visual SLAM.
Mingde ZHU received the B.Sc. degree in Automation from Shanghai Jiao Tong University, Shanghai, China in 2015. He is currently working towards the M.Sc. degree in the Department of Automation. His current research interests include service robots and pattern recognition.
Jianbo SU received the B.Sc. degree in Automatic Control from Shanghai Jiao Tong University, Shanghai, China, in 1989, M.Sc. degree in Pattern Recognition and Intelligent System from the Institute of Automation, Chinese Academy of Science, Beijing, China, in 1992, and the Ph.D. degree in Control Science and Engineering from Southeast University, Nanjing, China, in 1995. He joined the faculty of the Department of Automation, Shanghai Jiao Tong University, in 1997, where he has been a Full Professor since 2000. His research interests include robotics, pattern recognition, and human machine interaction.
Dr. Su is a Member of the Technical Committee of Networked Robots, IEEE Robotics and Automation Society, a Member of the Technical Committee on Human Machine Interactions, IEEE System, Man, and Cybernetics Society, and a Standing Committee Member of the Chinese Association of Automation. He has served as an Associate Editor for IEEE TRANSACTIONS ON CYBERNETICS since 2005, with which he received the Best Associate Editor Award from IEEE SMC society in 2014.
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Xiang, G., Huang, Y., Yu, J. et al. Intelligence evolution for service robot: An ADRC perspective. Control Theory Technol. 16, 324–335 (2018). https://doi.org/10.1007/s11768-018-8073-6
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DOI: https://doi.org/10.1007/s11768-018-8073-6