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)...

詳細記述

書誌詳細

出版年:	Entropy
主要な著者:	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
フォーマット:	論文
言語:	英語
出版事項:	MDPI AG 2023-03-01
主題:	mobile robot speed controller active disturbance rejection control extended state observer chattering phenomenon torque disturbance
オンライン･アクセス:	https://www.mdpi.com/1099-4300/25/3/514