Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
FORMATION CONTROL OF UNCERTAIN NONHOLONOMIC ROBOTS USING A ROBUST CONTROLLER
Submission Author:
Josiel Gouvêa , RJ
Co-Authors:
CAMILA MARRIEL, Alessandro Zachi, Josiel Gouvêa
Presenter: CAMILA MARRIEL
doi://10.26678/ABCM.COBEM2019.COB2019-1385
Abstract
This work addresses the formation control of nonholonomic robots using a robust controller. By dividing the robot model into dynamic and kinematic parts which has the nonholonomic constraints, the control strategy uses a cascaded scheme that has the signal of a kinematic tracking control as a reference for a robust dynamic tracking controller. The dynamic controller uses an extension of Active Disturbance Rejection Control (ADRC), called the modi ed ADRC, which is robust to external perturbations and parametric uncertainties. Simulations results con firm the efficiency of proposed control strategy.
Keywords
Formation control, Nonholonomic robots, robust control, cascaded strategy
