Trajectory Tracking Control for a Biomimetic Spherical Robot Based on ADRC

In this article, a two-dimensional trajectory tracking control framework is proposed for biomimetic spherical robots (BSR) in a constrained workspace despite the lack of dynamic model parameters information and the effects of disturbances on the robot motion. Meanwhile, The research presents the general dynamics models of the robot and the thrusters allocator scheme to ensure the force generated by the propellers within the feasible range. Our trajectory tracking control framework relies on three active disturbance rejection controllers (ADRC) for the case of biomimetic spherical robots. More importantly, the controllers consider various practical operational constraints, such as continuous and smooth controller outputs, predefined velocity bounds, and thruster saturations. Finally, We assess the performance and feasibility of the proposed control framework through the simulations.