Trajectory tracking for mobile manipulator based on nonlinear active disturbance rejection control
by Mhmed Algrnaodi; Maarouf Saad; Mohamad Saad; Raouf Fareh; Abdelkarim Brahmi
International Journal of Modelling, Identification and Control (IJMIC), Vol. 37, No. 2, 2021

Abstract: This paper designs a nonlinear active disturbance rejection control (ADRC) to solve the trajectory tracking problem of a mobile manipulator (MM) in the presence of parameters' uncertainties, and nonlinear dynamics coupling effects of the MM system. The control scheme consists of a nonlinear extended state observer (NESO) and a nonlinear proportional derivative (PD) controller. Based on the Lagrange formulation, a dynamical model of the MM is formulated, where external disturbances and modelling uncertainties are assumed to be part of the 'total disturbance' which is estimated with an observer and rejected online in the control law. Since the proposed controller cannot be performed unless the full transformed state vector of the system model is available, an NESO is designed to estimate the transformed state vector as well as the uncertainties. The nonlinear PD controller utilises the state estimated by the NESO, and the effect of uncertainties is cancelled online by the control input. Experimental results of the MM proposed tracking controller show its validity and efficiency.

Online publication date: Tue, 11-Jan-2022

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Modelling, Identification and Control (IJMIC):
Login with your Inderscience username and password:

Username:        Password:          Forgotten your password?

Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com