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Trajectory Tracking Control of an Omnidirectional Mobile Manipulator Based on Active Disturbance Rejection Control*

In this paper, active disturbance rejection control (ADRC) is proposed for trajectory tracking control of an omnidirectional mobile manipulator, with the presence of parameter uncertainties and external disturbances. Firstly, based on Lagrangian formulation, a unified dynamic model of the mobile manipulator is deduced. Then an extended state observer (ESO) and the PD controller are applied. The main idea of the control framework is that the unknown internal dynamics of the system and external disturbances are estimated by ESO and compensated actively by the controller. Meanwhile, the stability of the closed-loop system is guaranteed. Simulation results show the effectiveness and strong robustness of the proposed control method.