Active Disturbance Rejection Strategy for Distance and Formation Angle Decentralized Control in Differential-Drive Mobile Robots

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 t...

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Autors principals:	Mario Ramírez-Neria, Jaime González-Sierra, Alberto Luviano-Juárez, Norma Lozada-Castillo, Rafal Madonski
Format:	Artigo
Idioma:	Inglês
Publicat:	MDPI AG 2022-10-01
Col·lecció:	Mathematics
Matèries:	active disturbance rejection control (ADRC) differential-drive mobile robots multi-robot control formation control extended state observer (ESO) robust control
Accés en línia:	https://www.mdpi.com/2227-7390/10/20/3865
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