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Observer-Based Robust Cluster Space Control for Omnidirectional Robot Formations

This article describes an effective control approach for Wheeled Omnidirectional Mobile Robot Formations, capable of compensating disturbances generated by unknown forces acting on the vehicles. The multi-robot formations are modeled as uncertain multi-variable dynamical systems subject to undesired...

Ausführliche Beschreibung

Gespeichert in:
Hauptverfasser: Mauro Baquero-Suarez, Ignacio Mas, Juan I. Giribet
Format: Artigo
Sprache:Inglês
Veröffentlicht: IEEE 2026-01-01
Schriftenreihe:IEEE Access
Schlagworte:
Omnidirectional multi-robot systems
sliding-mode control
active disturbance rejection control
disturbance observers
multi-body system dynamics
cluster space specification
Online-Zugang:https://ieeexplore.ieee.org/document/11533392/
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