Linear Active Disturbance Rejection Control for Mobile Robot with Input Saturation

Abstract

In this paper, the linear active disturbance rejection control (LADRC) method is presented for mobile robot with input saturation, In this method, the auxiliary kinematic controller and dynamics controller are proposed. Firstly, based on the kinematic model of the robot, the auxiliary kinematic controller is designed to make the auxiliary speed asymptotically converge to the desired speed. Then based on dynamics model, the error compensator is designed to remove the influence of input saturation by using the linear ADRC, the purpose of anti saturation is achieved by adjusting the parameters of saturation actuator, and the actual speed of the robot converges to the auxiliary speed, which can make the tracking error asymptotically converge to zero. The effectiveness of this method is verified by simulation example.