A New Nonlinear Dynamic Speed Controller for a Differential Drive Mobile Robot

A New Nonlinear Dynamic Speed Controller for a Differential Drive Mobile Robot

A disturbance/uncertainty estimation and disturbance rejection technique are proposed in this work and verified on a ground two-wheel differential drive mobile robot (DDMR) in the presence of a mismatched disturbance. The offered scheme is the an improved active disturbance rejection control (IADRC)...

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Bibliographic Details
Main Authors: Ibrahim A. Hameed, Luay Hashem Abbud, Jaafar Ahmed Abdulsaheb, Ahmad Taher Azar, Mohanad Mezher, Anwar Ja’afar Mohamad Jawad, Wameedh Riyadh Abdul-Adheem, Ibraheem Kasim Ibraheem, Nashwa Ahmad Kamal
Format: Article
Language:English
Published: MDPI AG 2023-03-01
Series:Entropy
Subjects:
mobile robot
speed controller
active disturbance rejection control
extended state observer
chattering phenomenon
torque disturbance
Online Access:https://www.mdpi.com/1099-4300/25/3/514

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