Trajectory tracking control for four‐mecanum‐wheel mobile vehicle: A variable gain active disturbance rejection control approach

Sihang Li, Jinhui Zhang, Kai Zhao, Yakai Zhang, Zhongqi Sun, Yuanqing Xia

2021International Journal of Robust and Nonlinear Control23 citationsDOI

Abstract

Abstract In this article, a novel variable gain active disturbance rejection control (ADRC) approach is developed for the trajectory tracking control of four‐mecanum‐wheel mobile vehicle. The proposed variable gain ADRC approach includes three parts, variable gain tracking‐differentiator (VGTD), variable gain extended state observer (VGESO), and composite disturbance rejection controller. The error‐based variable gains are, respectively, incorporated in VGTD, VGESO, and controller to improve the transient performances. Moreover, stability analysis of the VGTD tracking error system, VGESO estimation error system, and the closed‐loop system are also provided. Finally, simulation and experiment results show the effectiveness of the proposed control approach.

Topics & Concepts

Control theory (sociology)DifferentiatorActive disturbance rejection controlTrajectoryVariable (mathematics)Controller (irrigation)Tracking errorTracking (education)Disturbance (geology)Computer scienceControl engineeringStability (learning theory)Transient (computer programming)EngineeringState observerControl (management)MathematicsNonlinear systemBandwidth (computing)Artificial intelligencePsychologyComputer networkMathematical analysisAstronomyAgronomyMachine learningOperating systemPaleontologyPedagogyBiologyQuantum mechanicsPhysicsControl and Dynamics of Mobile RobotsVehicle Dynamics and Control SystemsAdaptive Control of Nonlinear Systems