Linear Observer‐Based Active Disturbance Rejection Control of the Omnidirectional Mobile Robot

摘要: This article describes the design of a linear observer-linear controller-based robust output feedback scheme for reference trajectory tracking tasks in an omnidirectional mobile robot. The unknown, possibly state-dependent, additive nonlinearities influencing input-output error dynamics are modeled as absolutely bounded, additive, unknown “time-varying disturbance” input signal. procedure simplifies system description to that three independent chains second order integrators with, known, position-dependent control gains. These simplified systems additively perturbed by smooth, time-varying signal which is proven be trivially observable. Generalized proportional integral (GPI) observers, shown naturally estimate, arbitrarily close manner, perturbation and certain number its time derivatives. information used advantage on linear, observer-based, controller via simple cancellation effort. results implemented laboratory prototype