On The Design Of Non-linear Disturbance Observer For Formation Acquisition Of Multiple Wheeled Mobile Robots
P Sreekanth, Jeevamma Jacob · 2022 3rd International Conference for Emerging Technology (INCET) · 2022
This paper focuses on the formation acquisition of multiple wheeled mobile robots (WMR) with external disturbance. WMR’s are modeled using Euler-Lagrange like equations of motion. Backstepping technique is employed to derive control strategy. Lyapunov analysis shows WMRs acquire desired formation asymptotically. Non linear disturbance observer (NDOB) is proposed to reduce the effect of disturbance. Finally, simulations are carried out to show efficacy of proposed NDOB.