TY - GEN
T1 - Disturbance compensation using CTC with NDOB for formation control of mobile robots
AU - Kusumawardana, Arya
AU - Agustinah, Trihastuti
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/4/26
Y1 - 2018/4/26
N2 - This paper proposed CTC (Computed Torque Control) with NDOB (Non-linear Disturbance Observer) to compensate disturbance for formation control of mobile robot. The kinematics models of robot is used to solve the formation control problem. The robot formation was formed using the SBC (Separation-Bearing Control) approach. However, in this paper also used SSC (Separation-Separation Control), because SSC approach can avoid collision between follower if one of the follower affected by disturbance. In this case, CTC is used to control the dynamics of the robot, but the controller has poor performance when the robot was affected by disturbance, consequently the formation that has been formed is interrupted when tracking trajectory. Under these conditions, NDOB is designed to estimate disturbance in robots. The simulation results show that CTC with NDOB succeeds to reducing the effect of disturbance on the robot so that the formation can be maintained when any follower was affected by disturbance.
AB - This paper proposed CTC (Computed Torque Control) with NDOB (Non-linear Disturbance Observer) to compensate disturbance for formation control of mobile robot. The kinematics models of robot is used to solve the formation control problem. The robot formation was formed using the SBC (Separation-Bearing Control) approach. However, in this paper also used SSC (Separation-Separation Control), because SSC approach can avoid collision between follower if one of the follower affected by disturbance. In this case, CTC is used to control the dynamics of the robot, but the controller has poor performance when the robot was affected by disturbance, consequently the formation that has been formed is interrupted when tracking trajectory. Under these conditions, NDOB is designed to estimate disturbance in robots. The simulation results show that CTC with NDOB succeeds to reducing the effect of disturbance on the robot so that the formation can be maintained when any follower was affected by disturbance.
KW - CTC
KW - Mobile Robot
KW - NDOB
KW - SBC
KW - SSC
UR - http://www.scopus.com/inward/record.url?scp=85050499386&partnerID=8YFLogxK
U2 - 10.1109/ICOIACT.2018.8350703
DO - 10.1109/ICOIACT.2018.8350703
M3 - Conference contribution
AN - SCOPUS:85050499386
T3 - 2018 International Conference on Information and Communications Technology, ICOIACT 2018
SP - 673
EP - 678
BT - 2018 International Conference on Information and Communications Technology, ICOIACT 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 1st International Conference on Information and Communications Technology, ICOIACT 2018
Y2 - 6 March 2018 through 7 March 2018
ER -