Omnidirectional Mobile Robot Active Disturbance Rejection Control

Fu, Huixuan; Li, Yuan; Wang, Yuchao; Zhang, Zhong-Liang

doi:10.1109/icma.2018.8484414

Cited by 1 publication

(1 citation statement)

References 8 publications

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“…For example, the sliding model theory was utilized in [39] to further robustify the control law. In [40], active disturbance rejection control was successfully deployed for single mobile robots. In [41,42], the ADRC was also applied to the leader-follower formation.…”

Section: Introductionmentioning

confidence: 99%

Leader–Follower Formation and Disturbance Rejection Control for Omnidirectional Mobile Robots

Ramírez-Neria,

González-Sierra,

Madonski

et al. 2023

Robotics

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This paper proposes a distance-based formation control strategy with real-time disturbance rejection for omnidirectional mobile robots. The introduced control algorithm is designed such that the leader tracks a desired trajectory while the follower keeps a desired distance and formation angle concerning the leader. In the first step, the evolution of distance and formation angle is obtained from a perturbed second-order dynamic model of the robot, aided by a general proportional integral observer (GPIO), added to estimate unwanted disturbances. Then, the control law is designed for both robots via the active disturbance rejection control (ADRC) methodology, which only depends on the position, distance, and orientation measurements. A numerical simulation compared with a robust controller exhibits the system’s behavior. Furthermore, a set of laboratory experiments is conducted to verify the performance of the proposed control system, where a motion capture system is used as a proof of concept. In this context, this is considered a previous step for further experimentation with onboard sensors.

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