Robust Tracking Control of Wheeled Mobile Robot Based on Differential Flatness and Sliding Active Disturbance Rejection Control: Simulations and Experiments

Abstract

This paper proposes a robust tracking control method for wheeled mobile robot (WMR) against uncertainties, including wind disturbances and slipping. Through the application of the differential flatness methodology, the under-actuated WMR model is transformed into a linear canonical form, simplifying the design of a stabilizing feedback controller. To handle uncertainties from wheel slip and wind disturbances, the proposed feedback controller uses sliding mode control (SMC). However, increased uncertainties lead to chattering in the SMC approach due to higher control inputs. To mitigate this, a boundary layer around the switching surface is introduced, implementing a continuous control law to reduce chattering. Although increasing the boundary layer thickness reduces chattering, it may compromise the robustness achieved by SMC. To address this challenge, an active disturbance rejection control (ADRC) is integrated with boundary layer sliding mode control. ADRC estimates lumped uncertainties via an extended state observer and eliminates them within the feedback loop. This combined feedback control method aims to achieve practical control and robust tracking performance. Stability properties of the closed-loop system are established using the Lyapunov theory. Finally, simulations and experimental results are conducted to compare and evaluate the efficiency of the proposed robust tracking controller against other existing control methods.

Keywords

• differential flatness
• sliding mode control
• active disturbance rejection control
• extended state observer
• wheeled mobile robot