TY - JOUR
T1 - Active Disturbance Rejection Strategy for Distance and Formation Angle Decentralized Control in Differential-Drive Mobile Robots
AU - Ramírez-Neria, Mario
AU - González-Sierra, Jaime
AU - Luviano-Juárez, Alberto
AU - Lozada-Castillo, Norma
AU - Madonski, Rafal
N1 - Publisher Copyright:
© 2022 by the authors.
PY - 2022/10
Y1 - 2022/10
N2 - The important practical problem of robust synchronization in distance and orientation for a class of differential-drive mobile robots is tackled in this work as an active disturbance rejection control (ADRC) problem. To solve it, a kinematic model of the governed system is first developed based on the distance and formation angle between the agents. Then, a special high-order extended state observer is designed to collectively estimate the perturbations (formed by longitudinal and lateral slipping parameters) that affect the kinematic model. Finally, a custom error-based ADRC approach is designed and applied assuming that the distance and orientation between the agents are the only available measurements. The proposed control strategy does not need time-derivatives of the reference trajectory, which increases the practical appeal of the proposed solution. The experimental results, obtained in laboratory conditions with a set of differential-drive mobile robots operating in a leader–follower configuration, show the effectiveness of the proposed governing scheme in terms of trajectory tracking and disturbance rejection.
AB - The important practical problem of robust synchronization in distance and orientation for a class of differential-drive mobile robots is tackled in this work as an active disturbance rejection control (ADRC) problem. To solve it, a kinematic model of the governed system is first developed based on the distance and formation angle between the agents. Then, a special high-order extended state observer is designed to collectively estimate the perturbations (formed by longitudinal and lateral slipping parameters) that affect the kinematic model. Finally, a custom error-based ADRC approach is designed and applied assuming that the distance and orientation between the agents are the only available measurements. The proposed control strategy does not need time-derivatives of the reference trajectory, which increases the practical appeal of the proposed solution. The experimental results, obtained in laboratory conditions with a set of differential-drive mobile robots operating in a leader–follower configuration, show the effectiveness of the proposed governing scheme in terms of trajectory tracking and disturbance rejection.
KW - active disturbance rejection control (ADRC)
KW - differential-drive mobile robots
KW - extended state observer (ESO)
KW - formation control
KW - multi-robot control
KW - robust control
UR - http://www.scopus.com/inward/record.url?scp=85140798022&partnerID=8YFLogxK
U2 - 10.3390/math10203865
DO - 10.3390/math10203865
M3 - Artículo
AN - SCOPUS:85140798022
SN - 2227-7390
VL - 10
JO - Mathematics
JF - Mathematics
IS - 20
M1 - 3865
ER -