Abstract
In this paper, a nonlinear active disturbance rejection controller is applied for the trajectory tracking control of an omnidirectional mobile robot under dynamic uncertainties and external disturbances. A dynamic model of an omnidirectional mobile robot (OMR) is derived. The generalized proportional integral (GPI) observer is used to estimate the dynamic uncertainties and external disturbances. A nonlinear proportional derivative (NPD) controller is applied to control the OMR for achieving excellent performances in the trajectory tracking missions. The stability of the control system is analyzed. Simulation results are presented to show the effectiveness of the nonlinear active disturbance rejection controller.
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