Leader–Follower Formation and Disturbance Rejection Control for Omnidirectional Mobile Robots

Abstract

This paper proposes a distance-based formation control strategy with real-time disturbance rejection for omnidirectional mobile robots. The introduced control algorithm is designed such that the leader tracks a desired trajectory while the follower keeps a desired distance and formation angle concerning the leader. In the first step, the evolution of distance and formation angle is obtained from a perturbed second-order dynamic model of the robot, aided by a general proportional integral observer (GPIO), added to estimate unwanted disturbances. Then, the control law is designed for both robots via the active disturbance rejection control (ADRC) methodology, which only depends on the position, distance, and orientation measurements. A numerical simulation compared with a robust controller exhibits the system’s behavior. Furthermore, a set of laboratory experiments is conducted to verify the performance of the proposed control system, where a motion capture system is used as a proof of concept. In this context, this is considered a previous step for further experimentation with onboard sensors.

Optimal Active Disturbance Rejection Control for Second Order Systems

“…Thus far, Active Disturbance Rejection Control (ADRC) has found widespread applications in various fields, including the control of robotic systems [8]- [10], energy systems [11], [12], autonomous vehicles [13], the chemical industry [14]- [16], civil engineering [17], and biomedical systems [18], [19]. ADRC has demonstrated its broad value in commercial applications, such as the InstaSPIN-MOTION motor control solution developed by Texas Instruments, which incorporates ADRC for high-performance control [20].…”

Design and Analysis of an Input–Output Linearization-Based Trajectory Tracking Controller for Skid-Steering Mobile Robots

“…In [17][18][19], the control of mobile robots under constraints was addressed. A formation control strategy with the ability to reject disturbances for wheeled vehicles was proposed in [20].…”