TY - GEN
T1 - Trajectory Tracking Kinematic Control of Omnidirectional Mobile Robots via Active Disturbance Rejection Control with Anti-Peaking Mechanism
AU - Ramirez-Neria, M.
AU - Luviano-Juarez, A.
AU - Madonski, R.
AU - Hernandez-Martinez, E. G.
AU - Fernandez-Anaya, G.
AU - Lozada-Castillo, N.
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - In this article, the problem of designing a practical active disturbance rejection control (ADRC) scheme for a class of differentially flat omnidirectional mobile robots is addressed. A custom version of ADRC is proposed that uses a special observer that allows the controller feedforward input to be designed with an anti-peaking functionality, which helps to decrease the peaking phenomenon in the observer response. To further increase the practical appeal of the proposed ADRC design, the control algorithm here is derived using only the robot kinematic model and assumes the robot position and orientation as the only available system information. Experimental results, including a comparison with the proposal without the mechanism and a classic controller are shown using a laboratory robot operating in an irregular terrain, verifying the effectiveness of the proposed governing scheme in terms of trajectory tracking and disturbance rejection.
AB - In this article, the problem of designing a practical active disturbance rejection control (ADRC) scheme for a class of differentially flat omnidirectional mobile robots is addressed. A custom version of ADRC is proposed that uses a special observer that allows the controller feedforward input to be designed with an anti-peaking functionality, which helps to decrease the peaking phenomenon in the observer response. To further increase the practical appeal of the proposed ADRC design, the control algorithm here is derived using only the robot kinematic model and assumes the robot position and orientation as the only available system information. Experimental results, including a comparison with the proposal without the mechanism and a classic controller are shown using a laboratory robot operating in an irregular terrain, verifying the effectiveness of the proposed governing scheme in terms of trajectory tracking and disturbance rejection.
UR - http://www.scopus.com/inward/record.url?scp=85141675637&partnerID=8YFLogxK
U2 - 10.1109/CASE49997.2022.9926626
DO - 10.1109/CASE49997.2022.9926626
M3 - Contribución a la conferencia
AN - SCOPUS:85141675637
T3 - IEEE International Conference on Automation Science and Engineering
SP - 2295
EP - 2300
BT - 2022 IEEE 18th International Conference on Automation Science and Engineering, CASE 2022
PB - IEEE Computer Society
T2 - 18th IEEE International Conference on Automation Science and Engineering, CASE 2022
Y2 - 20 August 2022 through 24 August 2022
ER -