ENHANCED EXTENDED STATE OBSERVER BASED OUTPUT-FEEDBACK TRACKING CONTROL OF WHEELED MOBILE ROBOT WITH DISTURBANCE

Bo Qin, Huaicheng Yan, Lu Zeng, Simon X. Yang, and Meng Wang

Keywords

Wheeled mobile robot, tracking control, enhanced extended state observer, external disturbances, output feedback

Abstract

Considering the widespread disturbance in the wheeled mobile robot system, an enhanced extended state observer (EESO) is deployed, thus, the unmeasured states and disturbances can be estimated. Based on the estimated states and disturbance, an output-feedback controller is constructed. The estimated states and measured position information are used for the feedback part, and the estimated disturbances are used for the feedforward part. Lyapunov functions are built to prove that the observer error dynamics and the control error system satisfy input-to-state stable (ISS). All error signals are uniformly and ultimately bounded (UUB). Simulation results reveal the superiority of the designed method.

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