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This paper studies a model predictive hybrid tracking control scheme under a multiple harmonics time-varying disturbance observer for a discrete-time dynamics nonholonomic autonomous mobile robot (AMR) with disturbance. To solve the robust tracking control problem of the AMR and unmanned aerial vehicle (UAV) air-ground cooperative, a hybrid tracking control strategy combined with improved model predictive control (MPC) method is presented. First, a time-varying air-ground cooperative tracking control model based on the nonholonomic constraints AMR and UAV is established by polar coordinate transformation. Second, to estimate disturbances of the time-varying model, a multiple harmonics disturbance observer with time-varying gains is designed. A hybrid tracking control scheme for the AMR based on the estimated states and MPC method with relaxing factor and kinematics constraints is proposed. Finally, experimental results show the effectiveness of the proposed control strategy.

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