Active Disturbance Rejection Strategy for Distance and Formation Angle Decentralized Control in Differential-Drive Mobile Robots

The important practical problem of robust synchronization in distance and orientation for a class differential-drive mobile robots is tackled this work as an active disturbance rejection control (ADRC) problem. To solve it, kinematic model the governed system first developed based on formation angle between agents. Then, special high-order extended state observer designed to collectively estimate perturbations (formed by longitudinal lateral slipping parameters) that affect model. Finally, custom error-based ADRC approach applied assuming agents are only available measurements. proposed strategy does not need time-derivatives reference trajectory, which increases appeal solution. experimental results, obtained laboratory conditions with set operating leader–follower configuration, show effectiveness governing scheme terms trajectory tracking rejection.