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

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.