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

Author

Listed:
  • Mario Ramírez-Neria

    (InIAT Institute of Applied Research and Technology, Universidad Iberoamericana Ciudad de México, Prolongación Paseo de la Reforma 880, Colonia Lomas de Santa Fé, Ciudad de México 01219, Mexico)

  • Jaime González-Sierra

    (Unidad Profesional Interdisciplinaria de Ingeniería Campus Hidalgo, Instituto Politécnico Nacional, Carretera Pachuca-Actopan Kilómetro 1+500 Ciudad del Conocimiento y la Cultura Educación, San Agustín Tlaxiaca 42162, Mexico)

  • Alberto Luviano-Juárez

    (Unidad Profesional Interdisciplinaria en Ingeniería y Tecnologías Avanzadas, Instituto Politécnico Nacional, Av. IPN 2580, Col. Barrio La Laguna Ticomán, Ciudad de México 07340, Mexico)

  • Norma Lozada-Castillo

    (Unidad Profesional Interdisciplinaria en Ingeniería y Tecnologías Avanzadas, Instituto Politécnico Nacional, Av. IPN 2580, Col. Barrio La Laguna Ticomán, Ciudad de México 07340, Mexico)

  • Rafal Madonski

    (Energy and Electricity Research Center, Jinan University, Zhuhai 519070, China)

Abstract

The important practical problem of robust synchronization in distance and orientation for a class of differential-drive mobile robots is tackled in this work as an active disturbance rejection control (ADRC) problem. To solve it, a kinematic model of the governed system is first developed based on the distance and formation angle between the agents. Then, a special high-order extended state observer is designed to collectively estimate the perturbations (formed by longitudinal and lateral slipping parameters) that affect the kinematic model. Finally, a custom error-based ADRC approach is designed and applied assuming that the distance and orientation between the agents are the only available measurements. The proposed control strategy does not need time-derivatives of the reference trajectory, which increases the practical appeal of the proposed solution. The experimental results, obtained in laboratory conditions with a set of differential-drive mobile robots operating in a leader–follower configuration, show the effectiveness of the proposed governing scheme in terms of trajectory tracking and disturbance rejection.

Suggested Citation

  • Mario Ramírez-Neria & Jaime González-Sierra & Alberto Luviano-Juárez & Norma Lozada-Castillo & Rafal Madonski, 2022. "Active Disturbance Rejection Strategy for Distance and Formation Angle Decentralized Control in Differential-Drive Mobile Robots," Mathematics, MDPI, vol. 10(20), pages 1-19, October.
    • Handle: RePEc:gam:jmathe:v:10:y:2022:i:20:p:3865-:d:946189
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    References listed on IDEAS

    as
    1. G. Ochoa-Ortega & R. Villafuerte-Segura & A. Luviano-Juárez & M. Ramírez-Neria & N. Lozada-Castillo, 2020. "Cascade Delayed Controller Design for a Class of Underactuated Systems," Complexity, Hindawi, vol. 2020, pages 1-18, August.
    2. Wen-Qing Zhang & Liang-Long Da & Wu-Hong Guo & Yong Lv & Mei Han, 2021. "Active Disturbance Rejection Control of Underwater Vehicle with Omnidirectional Control," Mathematical Problems in Engineering, Hindawi, vol. 2021, pages 1-11, August.
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    Cited by:

    1. Lixiong Lin & Zhiping Xu & Jiachun Zheng, 2023. "Predefined Time Active Disturbance Rejection for Nonholonomic Mobile Robots," Mathematics, MDPI, vol. 11(12), pages 1-21, June.

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