Trajectory tracking control for four-mecanum-wheel mobile vehicle: A variable gain active disturbance rejection control approach

In this article, a novel variable gain active disturbance rejection control (ADRC) approach is developed for the trajectory tracking control of four-mecanum-wheel mobile vehicle. The proposed variable gain ADRC approach includes three parts, variable gain tracking-differentiator (VGTD), variable gain extended state observer (VGESO), and composite disturbance rejection controller. The error-based variable gains are, respectively, incorporated in VGTD, VGESO, and controller to improve the transient performances. Moreover, stability analysis of the VGTD tracking error system, VGESO estimation error system, and the closed-loop system are also provided. Finally, simulation and experiment results show the effectiveness of the proposed control approach.