Trajectory tracking control based on disturbance observer for omnidirectional mobile robot

Abstract

This brief focuses on the problem of trajectory tracking control of omnidirectional mobile robot with unknown external disturbances. It is assumed that the derivative of the external disturbances is bounded. The control scheme is divided into two parts. In the first part, the external disturbances are estimated by the disturbance observer. Furthermore, the feasibility of the disturbance observer is demonstrated. In the second part, we propose the trajectory tracking controller. Based up on Lyapunov function, the stability of the closed-loop system is analysed. Finally, simulations are given to show the validity of the results.