A novel tracking control method based on LADRC for autonomous mobile robot

Abstract

The trajectory tracking control problem of nonholonomic mobile robots is investigated in the paper. In order to match well the real trajectory and the referenced one which is set in advance, a novel control method is designed. Firstly, velocity and angular velocity of the mobile robot is obtained by kinematic control law using the attitude error. Then the mobile robot will track the referenced kinematic state very well using the dynamic control law based on the control theory of Linear Active Disturbance Rejection Control (LADRC). Finally, the current attitude information would be updated after translation and integration to go on the next calculating circle. Simulation results are given to demonstrate the stability and effectiveness of the proposed controller.