Leader-Follower ADRC Strategy for Omnidirectional Mobile Robots without Time-Derivatives in the Tracking Controller

Mario Ramirez-Neria; Alberto Luviano-Juarez; R. Madonski; R. Ramirez-Juarez; N. Lozada-Castillo; Z. Gao

doi:10.23919/ACC55779.2023.10156648

Leader-Follower ADRC Strategy for Omnidirectional Mobile Robots without Time-Derivatives in the Tracking Controller

Mario Ramirez-Neria
, Alberto Luviano-Juarez
, R. Madonski
, R. Ramirez-Juarez
, N. Lozada-Castillo
, Z. Gao

Electrical and Computer Engineering

Universidad Iberoamericana
Instituto Politécnico Nacional
Jinan University
FESC-C4-UNAM
Cleveland State University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

9 Scopus citations

Abstract

In this article, the problem of designing an active disturbance rejection control (ADRC) strategy for omnidirectional mobile robots in leader-follower formation is addressed. The proposed solution utilizes the partially available robot dynamical model and only uses robot position as measurable information. A special extended state observer in error-based form is constructed allowing the controller to be designed without an explicit use of signal time-derivatives, which increases the practical appeal of the introduced control scheme. Experimental results show the effectiveness of the approach in terms of trajectory tracking and disturbance rejection.

Original language	English
Title of host publication	Proceedings of the American Control Conference
Place of Publication	usa
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	405-410
Number of pages	6
Volume	2023-May
ISBN (Electronic)	9798350328066
DOIs	https://doi.org/10.23919/ACC55779.2023.10156648
State	Published - Jan 1 2023
Event	2023 American Control Conference, ACC 2023 - San Diego, United States Duration: May 31 2023 → Jun 2 2023

Conference

Conference	2023 American Control Conference, ACC 2023
Country/Territory	United States
City	San Diego
Period	05/31/23 → 06/2/23

Access to Document

10.23919/ACC55779.2023.10156648

Cite this

Ramirez-Neria, M., Luviano-Juarez, A., Madonski, R., Ramirez-Juarez, R., Lozada-Castillo, N., & Gao, Z. (2023). Leader-Follower ADRC Strategy for Omnidirectional Mobile Robots without Time-Derivatives in the Tracking Controller. In Proceedings of the American Control Conference (Vol. 2023-May, pp. 405-410). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ACC55779.2023.10156648

@inproceedings{71d0b64d58e84c858f16aac41f4ab769,

title = "Leader-Follower ADRC Strategy for Omnidirectional Mobile Robots without Time-Derivatives in the Tracking Controller",

abstract = "In this article, the problem of designing an active disturbance rejection control (ADRC) strategy for omnidirectional mobile robots in leader-follower formation is addressed. The proposed solution utilizes the partially available robot dynamical model and only uses robot position as measurable information. A special extended state observer in error-based form is constructed allowing the controller to be designed without an explicit use of signal time-derivatives, which increases the practical appeal of the introduced control scheme. Experimental results show the effectiveness of the approach in terms of trajectory tracking and disturbance rejection.",

author = "Mario Ramirez-Neria and Alberto Luviano-Juarez and R. Madonski and R. Ramirez-Juarez and N. Lozada-Castillo and Z. Gao",

year = "2023",

month = jan,

day = "1",

doi = "10.23919/ACC55779.2023.10156648",

language = "English",

volume = "2023-May",

pages = "405--410",

booktitle = "Proceedings of the American Control Conference",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "2023 American Control Conference, ACC 2023 ; Conference date: 31-05-2023 Through 02-06-2023",

}

Ramirez-Neria, M, Luviano-Juarez, A, Madonski, R, Ramirez-Juarez, R, Lozada-Castillo, N & Gao, Z 2023, Leader-Follower ADRC Strategy for Omnidirectional Mobile Robots without Time-Derivatives in the Tracking Controller. in Proceedings of the American Control Conference. vol. 2023-May, Institute of Electrical and Electronics Engineers Inc., usa, pp. 405-410, 2023 American Control Conference, ACC 2023, San Diego, United States, 05/31/23. https://doi.org/10.23919/ACC55779.2023.10156648

Leader-Follower ADRC Strategy for Omnidirectional Mobile Robots without Time-Derivatives in the Tracking Controller. / Ramirez-Neria, Mario; Luviano-Juarez, Alberto; Madonski, R. et al.
Proceedings of the American Control Conference. Vol. 2023-May usa: Institute of Electrical and Electronics Engineers Inc., 2023. p. 405-410.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Leader-Follower ADRC Strategy for Omnidirectional Mobile Robots without Time-Derivatives in the Tracking Controller

AU - Ramirez-Neria, Mario

AU - Luviano-Juarez, Alberto

AU - Madonski, R.

AU - Ramirez-Juarez, R.

AU - Lozada-Castillo, N.

AU - Gao, Z.

PY - 2023/1/1

Y1 - 2023/1/1

N2 - In this article, the problem of designing an active disturbance rejection control (ADRC) strategy for omnidirectional mobile robots in leader-follower formation is addressed. The proposed solution utilizes the partially available robot dynamical model and only uses robot position as measurable information. A special extended state observer in error-based form is constructed allowing the controller to be designed without an explicit use of signal time-derivatives, which increases the practical appeal of the introduced control scheme. Experimental results show the effectiveness of the approach in terms of trajectory tracking and disturbance rejection.

AB - In this article, the problem of designing an active disturbance rejection control (ADRC) strategy for omnidirectional mobile robots in leader-follower formation is addressed. The proposed solution utilizes the partially available robot dynamical model and only uses robot position as measurable information. A special extended state observer in error-based form is constructed allowing the controller to be designed without an explicit use of signal time-derivatives, which increases the practical appeal of the introduced control scheme. Experimental results show the effectiveness of the approach in terms of trajectory tracking and disturbance rejection.

UR - https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85167781178&origin=inward

UR - https://www.scopus.com/inward/citedby.uri?partnerID=HzOxMe3b&scp=85167781178&origin=inward

U2 - 10.23919/ACC55779.2023.10156648

DO - 10.23919/ACC55779.2023.10156648

M3 - Conference contribution

VL - 2023-May

SP - 405

EP - 410

BT - Proceedings of the American Control Conference

PB - Institute of Electrical and Electronics Engineers Inc.

CY - usa

T2 - 2023 American Control Conference, ACC 2023

Y2 - 31 May 2023 through 2 June 2023

ER -

Ramirez-Neria M, Luviano-Juarez A, Madonski R, Ramirez-Juarez R, Lozada-Castillo N, Gao Z. Leader-Follower ADRC Strategy for Omnidirectional Mobile Robots without Time-Derivatives in the Tracking Controller. In Proceedings of the American Control Conference. Vol. 2023-May. usa: Institute of Electrical and Electronics Engineers Inc. 2023. p. 405-410 doi: 10.23919/ACC55779.2023.10156648

Leader-Follower ADRC Strategy for Omnidirectional Mobile Robots without Time-Derivatives in the Tracking Controller

Abstract

Conference

Access to Document

Other files and links

Cite this