Trajectory Tracking Control of Car-like Mobile Robots Based on Extended State Observer and Backstepping Control

Abstract

In this paper, a trajectory tracking control strategy for low-speed car-like mobile robots (CLMRs) based on an extended state observer (ESO) and backstepping control is proposed to address the issue of trajectory tracking accuracy degradation caused by modeling errors and external disturbances. First, modeling errors and external disturbances are introduced into an ideal kinematic model of a CLMR, and a set of output equations is utilized to split the coupled, underdriven disturbance kinematic model into two mutually independent subsystems. Next, disturbances in the subsystems are estimated based on a linear ESO, and the convergence of the proposed observer is proved by the Lyapunov method. Finally, a controller with disturbance compensation is designed using backstepping control to complete the trajectory tracking task of CLMRs. Simulation and experimental results show the effectiveness of the proposed control scheme.