Angle Decentralized Control in Differential-Drive Mobile Robots
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  • Release Date: 2022-11-07
  • active disturbance rejection control (ADRC)
  • differential-drive mobile robots
  • multi-robot control
  • formation control
Video Introduction

This video is adapted from 10.3390/math10203865

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.

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