Robust trajectory tracking for omnidirectional robots by means of anti-peaking linear active disturbance rejection

• Published in: Robotics and autonomous systems Vol. 183; p. 104842
• Main Authors: Ramírez-Neria, Mario, Madonski, Rafal, Hernández-Martínez, Eduardo Gamaliel, Lozada-Castillo, Norma, Fernández-Anaya, Guillermo, Luviano-Juárez, Alberto
• Format: Journal Article
• Language: English
• Published: Elsevier B.V 01.01.2025
• Subjects: Active disturbance rejection control; Extended state observers; Omnidirectional robots; Peaking; Active disturbance rejection control; Peaking; Extended state observers; Omnidirectional robots
• ISSN: 0921-8890
• DOI: 10.1016/j.robot.2024.104842

This article presents a Linear Active Disturbance Rejection scheme for the robust trajectory tracking control of an Omnidirectional robot, including an additional saturation element in the control design to improve the transient closed-loop response by including a saturation-input strategy in the Extended State Observer design, mitigating the possible arising peaking phenomenon. In addition, the controller is implemented in the kinematic model of the robotic system, assuming as the available information the position and orientation measurement and concerning the system structure, it is just known the order of the system and the control gain matrix as well. A wide set of laboratory experiments, including a comparison with a standard ADRC (i.e. without the proposed anti-peaking mechanism) and a PI-based control including an anti-peaking proposal, in the presence of different disturbance elements in the terrain of smooth and abrupt nature is carried out to formulate a comprehensive assessment of the proposal which validate the practical advantages of the proposal in robust trajectory tracking of the kind of robots. •An alternative anti-peaking approach enhances the ADRC transients.•A Lyapunov stability test of the observer-based controller is provided.•The proposal improves the tracking behavior in trajectory tracking tasks.•The ADRC scheme is proposed for a mobile robot subject to terrain disturbances.