Trajectory tracking control for wheeled mobile robots based on nonlinear disturbance observer with extended Kalman filter

• Published in: Journal of the Franklin Institute Vol. 357; no. 13; pp. 8491 - 8507
• Main Authors: Li, Li, Wang, Tianqi, Xia, Yuanqing, Zhou, Ning
• Format: Journal Article
• Language: English
• Published: Elmsford Elsevier Ltd 01.09.2020; Elsevier Science Ltd
• Subjects: Disturbance observers; Error feedback; Extended Kalman filter; Feedback control; Kalman filters; Mean square errors; Robot control; Robots; Tracking control; Tracking control systems; Tracking errors; Tracking problem; Trajectory control; Velocity

This article tackles the trajectory tracking problem for a non-holonomic wheeled mobile robot (WMR) with non-random and random disturbances. A nonlinear disturbance observer with extended Kalman filter (NDEKF) is designed to observe the velocity and the non-random disturbance of the WMR. An error fe...