An Active Disturbance Rejection Approach to Leader-Follower Controlled Formation

摘要: This article describes the design of a linearizing, observer-based, robust dynamic feedback control scheme for output reference trajectory tracking tasks in leader-follower non-holonomic car formation problem. The approach is based on cars' kinematic models. A radical simplification form global ultra-model proposed follower's exact open loop position error dynamics obtained via flatness considerations. results system described by an additively disturbed set two, second order integrators with non-linear velocity dependent input gain matrix. unknown additive disturbances are modeled as absolutely uniformly bounded time signals which may be locally approximated arbitrary elements sufficiently high degree family Taylor polynomials. Linear high-gain Luenberger observers generalized proportional integral (GPI) type readily designed. These include self updating internal model disturbance vector components generic, instantaneous, time-polynomial observers, dual counterpart GPI controllers [17], achieve simultaneous estimation and phase variables estimation. on-line gathered information used to advantage controller thus allowing simple, yet efficient, cancelation effort. applied have follower track time-delayed version actual leader's trajectory. Experimental presented illustrate robustness viability approach.