Abstract
It is an essential task to guarantee satisfactory tracking performance for a warehouse mobile robot with a detachable load. To this end, a nonlinear extended state observer (ESO)-based tracking control is investigated via a double closed-loop framework in this paper. A kinematics controller is designed in an outer loop to generate desired velocities for the warehouse mobile robot. A nonlinear ESO with an improved error function is proposed in an inner loop to estimate load variations and internal unmodeled dynamics. Then a nonlinear error feedback controller based on estimation values is given to track the desired velocities from the outer loop. Simulation and experiment results illustrate the effectiveness and superiority of the proposed control strategy.
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