Disturbance compensation using CTC with NDOB for formation control of mobile robots

摘要

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.