Adaptive Backstepping Control with Extended State Observer for Wheeled Mobile Robot

In this paper, the adaptive backstepping controller is designed based on kinematics and dynamics model of the wheeled mobile robot (WMR). Based on backstepping control theory, an adaptive law is designed to reduce the influence of the control system because of the internal disturbance caused by uncertain or unknown parameters of system and the external disturbance caused by environmental factors. Lyapunov stability theory is applied to prove the stability of the adaptive controller. In order to further reduce the influence of disturbance on the control performance, the extended state observer (ESO) is introduced to observe the disturbances of linear speed and angular speed which compensate the control output value of adaptive controller. Simulation results show that the proposed control method can adapt disturbance of the system and has a good performance on trajectory tracking.