Formation Control for Wheeled Mobile Robots With Finite-Time Active Disturbance Rejection Control

摘要

This paper studies the formation control problem of the wheeled mobile robots by the finite-time active disturbance rejection control method. The model of a single wheeled mobile robot, which is nonlinear and underactuated, is handled as a linear system by the feedback linearization. Then each wheeled mobile robot can be regard as a linear agent with the influence of the total disturbance. Thus the leader-follower tracking consensus framework for multi-agent systems can be utilized. Furthermore, the finite-time extended state observer is constructed to estimate the total disturbance. Finally, a finite-time protocol is developed for multi-agent systems. The experiment validates the effectiveness of the theoretical results.