Active disturbance rejection control with friction compensation for an omnidirectional mobile robot
WANG Sheng-xiang
REN Chao
MA Shu-gen
Abstract：This paper presents an improved nonlinear active disturbance rejection controller with friction compensation, designed for trajectory tracking control of an omnidirectional mobile robot. The dynamic model with static friction model of an omnidirectional mobile robot is presented firstly. Based on this model, a linear extended state observer and a nonlinear controller are designed while the stability analysis is provided. To get the estimation of friction, the available model is added into the linear extended state observer and the estimation is used in friction compensation of the nonlinear controller. To decrease influence of friction when the robot is in low-speed, a variable gain controller is used in the nonlinear controller for trajectory tracking control. Finally, the simulation results are demonstrated to prove the controller effective for friction compensation.
Keywords：frictionomnidirectional mobile robotactive disturbance rejection controlnonlinear control systems
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：8( 1285-1292 )