DISTURBANCE OBSERVER-BASED CONTROLLER FOR WHEEL MOBILE ROBOTS WITH INPUT DISTURBANCES
Keywords:
Wheel mobile robot, trajectory tracking, Lyapunov stability, input disturbances observer.
Abstract
This paper present the trajectory tracking problem of wheel mobile robot, the control system is separated into two feedback loops, for both kinematic and dynamics, using a disturbance observer based on time receding optimal. The proposed control schema is simulated by Matlab, the results show that the system is stable and the quality is good, ability to cancel the effect of the input disturbances and system uncertainties.
