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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Ramírez-Neria, M.; González-Sierra, J.; Luviano-Juarez, A.; Lozada, N.; Madonski, R. Angle Decentralized Control in Differential-Drive Mobile Robots. Encyclopedia. Available online: https://encyclopedia.pub/video/video_detail/475 (accessed on 21 April 2024).
Ramírez-Neria M, González-Sierra J, Luviano-Juarez A, Lozada N, Madonski R. Angle Decentralized Control in Differential-Drive Mobile Robots. Encyclopedia. Available at: https://encyclopedia.pub/video/video_detail/475. Accessed April 21, 2024.
Ramírez-Neria, Mario, Jaime González-Sierra, Alberto Luviano-Juarez, Norma Lozada, Rafal Madonski. "Angle Decentralized Control in Differential-Drive Mobile Robots" Encyclopedia, https://encyclopedia.pub/video/video_detail/475 (accessed April 21, 2024).
Ramírez-Neria, M., González-Sierra, J., Luviano-Juarez, A., Lozada, N., & Madonski, R. (2022, November 07). Angle Decentralized Control in Differential-Drive Mobile Robots. In Encyclopedia. https://encyclopedia.pub/video/video_detail/475
Ramírez-Neria, Mario, et al. "Angle Decentralized Control in Differential-Drive Mobile Robots." Encyclopedia. Web. 07 November, 2022.