Active Disturbance Rejection Strategy for Distance and Formation Angle Decentralized Control in Differential-Drive Mobile Robots

Ramírez‐Neria, Mario; González‐Sierra, Jaime; Luviano‐Juárez, Alberto; Lozada‐Castillo, Norma; Madoński, Rafał

doi:10.3390/math10203865

Cited by 7 publications

(3 citation statements)

References 46 publications

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“…Remark 3. Mario et al [33] solved the robust synchronization problem of a class of differentialdrive mobile robots in distance and orientation by designing an active disturbance rejection controller (ADRC). In this article, the predefined time observers were used to track unknown slipping and skidding in real time, and the following controllers were designed on this basis, which could effectively avoid the impact of system disturbances on the robustness of the controllers.…”

Section: Observer Designmentioning

confidence: 99%

Predefined Time Active Disturbance Rejection for Nonholonomic Mobile Robots

Lin

Zheng

2023

Mathematics

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This article studies the fast path tracking problem for nonholonomic mobile robots with unknown slipping and skidding. Firstly, considering the steering problem, a new mathematical model of nonholonomic mobile robot is derived. Secondly, to estimate the unknown slipping and skidding of a nonholonomic mobile robot quickly and accurately, new predefined time observers, which can attain a predefined settling time, are established. Thirdly, based on the observers and the sliding mode approaches, predefined time active controllers are proposed to achieve high precision control performance of the nonholonomic mobile robot tracking. The method proposed in this article can achieve uniformly global stability within a predefined time, which makes the adjustment of the convergence time of the nonholonomic mobile robot easier and convenient. Finally, the simulation results validated the theoretical results.

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Section: Observer Designmentioning

confidence: 99%

Predefined Time Active Disturbance Rejection for Nonholonomic Mobile Robots

Lin

Zheng

2023

Mathematics

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“…The payload and disturbance controlled the new 6-DOF parallel robot. Reference [22] proposed an error-based custom ADRC method that does not require a time derivative of the reference trajectory. The experimental results validate its effectiveness in trajectory tracking and interference suppression.…”

Section: Introductionmentioning

confidence: 99%

Enhanced Tracking in Legged Robots through Model Reduction and Hybrid Control Techniques: Addressing Disturbances, Delays, and Saturation

Zhao,

Wang,

Cao

et al. 2024

Applied Sciences

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This study introduces a reduced-order leg dynamic model to simplify the controller design and enhance robustness. The proposed multi-loop control scheme tackles tracking control issues in legged robots, including joint angle and contact-force regulation, disturbance suppression, measurement delay, and motor saturation avoidance. Firstly, model predictive control (MPC) and sliding mode control (SMC) schemes are developed using a simplified model, and their stability is analyzed using the Lyapunov method. Numerical simulations under two disturbances validate the superior tracking performance of the SMC scheme. Secondly, an Nth-order linear active disturbance rejection control (LADRC) is designed based on a simplified model and optimization problems. The second-order LADRC-SMC scheme reduces the contact-force control error in the SMC scheme by ten times. Finally, a fourth-order LADRC-SMC with a Smith Predictor (LADRC-SMC-SP) scheme is formulated, employing each loop controller independently. This scheme simplifies the design and enhances performance. Compared to numerical simulations of the above and existing schemes, the LADRC-SMC-SP scheme eliminates delay oscillations, shortens convergence time, and demonstrates fast force-position tracking responses, minimal overshoot, and strong disturbance rejection. The peak contact-force error in the LADRC-SMC-SP scheme was ten times smaller than that in the LADRC-SMC scheme. The integral square error (ISE) values for the tracking errors of joint angles θ1 and θ2, and contact force f, are 1.6636×10−28 rad2⋅s, 1.7983×10−28 rad2⋅s, and 1.8062×10−30 N2⋅s, respectively. These significant improvements in control performance address the challenges in single-leg dynamic systems, effectively handling disturbances, delays, and motor saturation.

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“…Although the results consider the agents as point masses, they can be extended to robotic systems of higher complexity, for example, to the case of unicycle-type robots. On the basis of this work, a number of studies have been carried out in the field, such as the decentralized time-varying formation control for multi-robot systems [27], formation control for thermal multi-agent systems [28], leader-follower formation with second-order slide mode control for differential-drive mobile robots [29], and long-term pattern formation and maintenance for battery-powered robots [30]. On the other hand, in recent years, the consensus problem of multi-agent systems has been analyzed from the fractional calculus framework [31][32][33][34].…”

Section: Introductionmentioning

confidence: 99%

Decentralized formation of multi‐agent conformable fractional nonlinear robot systems

Ángeles‐Ramírez,

Fernández‐Anaya,

Hernández‐Martínez

et al. 2023

Asian Journal of Control

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A novel approach to address the asymptotic stability problem of the decentralized formation control of multi‐agent robot systems considering a cyclic pursuit formation graph is derived by using the classical Lyapunov's stability method and LaSalle's invariance principle. Theoretical development of a local potential function‐based control law and the formulation of the position and formation error dynamics, from the viewpoint of the multi‐variable conformable fractional‐order calculus, is given. In addition, a comparison between the integer‐order case and conformable fractional‐order case is provided. Finally, a numerical example illustrates the performance of the developed results.

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Active Disturbance Rejection Strategy for Distance and Formation Angle Decentralized Control in Differential-Drive Mobile Robots

Cited by 7 publications

References 46 publications

Predefined Time Active Disturbance Rejection for Nonholonomic Mobile Robots

Predefined Time Active Disturbance Rejection for Nonholonomic Mobile Robots

Enhanced Tracking in Legged Robots through Model Reduction and Hybrid Control Techniques: Addressing Disturbances, Delays, and Saturation

Decentralized formation of multi‐agent conformable fractional nonlinear robot systems

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