Distance and Formation Angle Decentralized Control in Differential-Drive Mobile Robots ADRC Approach
Автор: Mario Ramirez Neria
Загружено: 2022-06-07
Просмотров: 156
Описание: The practically important 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 linear 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.
Повторяем попытку...
Доступные форматы для скачивания:
Скачать видео
-
Информация по загрузке:
![[RA-L] Hierarchical Active Exploration of Radiance Field with Epistemic Uncertainty Minimization](https://image.4k-video.ru/id-video/FkY7t2IeWhE)
