Trajectory Tracking Use Linear Active Disturbance Control of The Omnidirectional Mobile Robot

Abstract

The problem of time-varying uncertain of system dynamics model parameters for the omnidirectional mobile robot is mainly discussed in this paper when it is moving with rotating. A double closed-loop Linear Active Disturbance Rejection Control (LADRC) method is proposed. Firstly, the kinematics and dynamics model of the omnidirectional mobile robot are established. Then, two closed-loop controllers are employed in the omnidirectional mobile robot. The low-level controller is running on the robot with feedback from motor encoders. Simultaneously, the robot trajectory tracking high-level controller design method is given. The Linear Extended State Observer (LESO) is used to measure and compensate the disturbance in the trajectory tracking control system as well as the model parameter variation. Finally, the experimental results prove the theories and using the LADRC controller cause more precise motion of the omnidirectional mobile robot.