Abstract
In the kinematic control of mobile robot, the accurate velocity control of each wheel is crucial. In this paper, an active disturbance rejection control is applied to a MY-Wheel-II assembly which is an omnidirectional wheel mechanism. The proposed control method is inherent robust and very easy to be tuned, while requiring little model information about the wheel mechanism. The internal dynamics and external disturbances can be estimated by the extended state observer and compensated in the control signal in real time. Experimental results show that the ADRC achieves definitely much better performance than classical proportional-integral control.
