Tracking Control of Wheeled Mobile Robots with Slippage Based on Active Disturbance Rejection Control

Wheeled mobile robots (WMRs) often suffer from the slipping when moving on the loose soil of the surface of the moon during exploration, which are the main causes of WMRs' delay in path tracking. In this paper, an improved linear active disturbance rejection control (LADRC) is introduced to control a WMR in tracking a desired trajectory based on the kinematic model of WMRs with the longitudinal and lateral slippage. The tracking differentiator and nonlinear feedback combination is employed in improved LARDC in order to improve the efficacy of the controller. Furthermore, the method of defining system parameters is discussed. With ADRC controller, the coupling kinematic system is decoupled to three first-order systems, which can use the same controller with little parameters adjustment. Finally, simulation experiments are carried out and the simulation results demonstrate the effectiveness of the controller, which exhibits a satisfactory tracking performance.