@inproceedings{c7fdbc8f9bb84b70b747a39698af8b80,
title = "Leader-Follower ADRC Strategy for Omnidirectional Mobile Robots without Time-Derivatives in the Tracking Controller",
abstract = "In this article, the problem of designing an active disturbance rejection control (ADRC) strategy for omnidirectional mobile robots in leader-follower formation is addressed. The proposed solution utilizes the partially available robot dynamical model and only uses robot position as measurable information. A special extended state observer in error-based form is constructed allowing the controller to be designed without an explicit use of signal time-derivatives, which increases the practical appeal of the introduced control scheme. Experimental results show the effectiveness of the approach in terms of trajectory tracking and disturbance rejection.",
author = "M. Ramirez-Neria and A. Luviano-Juarez and R. Madonski and R. Ramirez-Juarez and N. Lozada-Castillo and Z. Gao",
note = "Publisher Copyright: {\textcopyright} 2023 American Automatic Control Council.; 2023 American Control Conference, ACC 2023 ; Conference date: 31-05-2023 Through 02-06-2023",
year = "2023",
doi = "10.23919/ACC55779.2023.10156648",
language = "Ingl{\'e}s",
series = "Proceedings of the American Control Conference",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "405--410",
booktitle = "2023 American Control Conference, ACC 2023",
address = "Estados Unidos",
}