Enhanced extended state observer based prescribed time tracking control of wheeled mobile robot with slipping and skidding
Bo Qin,
Huaicheng Yan,
Xiao Hu
et al.
Abstract:This article focuses on the trajectory tracking control for a perturbed wheeled mobile robot (WMR) with slipping and skidding. The external disturbances and uncertainties caused by the slipping and skidding compose the “total” disturbance. By analyzing the stable state of the controlled system, the WMR reference model driven by a favorable disturbance is constructed. This article proposes an enhanced extended state observer (EESO) to reckon the difference between the “total” disturbance and the favorable distu… Show more
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