Omnidirectional Mobile Robot Active Disturbance Rejection Control

Abstract

In order to improve the disturbance rejection performance of the omnidirectional mobile robot control system, an attitude and position control system of omnidirectional mobile robot based on linear active disturbance rejection controller (LADRC) is designed. The kinematics and dynamics model of the omnidirectional mobile robot is established and the overall design scheme of omnidirectional mobile robot is given. The perturbation of “internal” model parameters of omnidirectional mobile robot system and “external” environmental interference and randomness of load variation are taken as “total disturbances” and the “total disturbance” is estimated and compensated in real time by constructing an extended state observer (ESO). The final experimental results show that the LADRC has a strong ability and good control accuracy on controlling uncertainty for the attitude and position of the omnidirectional mobile robot with the external disturbances and the nonlinearity of the carrier itself.