| Autor: |
Mario Ramírez-Neria, Jaime González-Sierra, Alberto Luviano-Juárez, Norma Lozada-Castillo, Rafal Madonski |
| Jazyk: |
angličtina |
| Rok vydání: |
2022 |
| Předmět: |
|
| Zdroj: |
Mathematics, Vol 10, Iss 20, p 3865 (2022) |
| Druh dokumentu: |
article |
| ISSN: |
2227-7390 |
| DOI: |
10.3390/math10203865 |
| Popis: |
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. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
|
|
Nepřihlášeným uživatelům se plný text nezobrazuje |
K zobrazení výsledku je třeba se přihlásit.
|
