Position/force control of a holonomic-constrained mobile manipulator based on active disturbance rejection control

In this paper, active disturbance rejection control is designed for position/force control of a holonomic constrained mobile manipulator in presence of uncertainties and disturbances. A dynamic model of the mobile manipulator is derived, based on the Lagrange formulation. The basic idea of the proposed control design is to estimate the unknown internal dynamics of the mobile manipulator and external disturbances by the linear extended state observer and to actively compensate them by the control input. The stability of the proposed control system is analyzed. Simulation results validate the effectiveness and strong robustness of the proposed control system.