Leader-Follower ADRC Strategy for Omnidirectional Mobile Robots without Time-Derivatives in the Tracking Controller
2023 AMERICAN CONTROL CONFERENCE, ACC(2023)
摘要
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.
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