Trajectory Tracking Control for Four Mecanum Wheels Omnidirectional Mobile Robots Based on Active Disturbances Rejecter Control

This paper presents trajectory tracking control based on Active Disturbances Rejecter Control (ADRC) for an omnidirectional mobile robot with four Mecanum wheels. Dynamical model of the robot with its actuators is developed to establish the full equations system of motion in presence of external disturbance, undesired dynamics, and uncertainties. To cope with the mentioned problems, they will all be considered as parts of the total disturbances function, the value of this function will be estimated by the extended state observer (ESO), and it will be compensated in real-time from the control low. In order to evaluate the tracking performances of the proposed approach, computer simulations were carried out, and the obtained results are analyzed and discussed.