Trajectory tracking control of a four mecanum wheeled mobile platform: an extended state observer-based sliding mode approach

This study proposes an extended state observer-based sliding mode control (ESO-SMC) strategy for trajectory tracking of a four mecanum wheeled mobile platform (FMWMP) with unknown disturbances and model uncertainties (UDMU) considered. Especially, the extended state observer (ESO) is designed to estimate not only the UDMU but also the unmeasured velocities of FMWMP. Based on the designed ESO, a sliding mode control (SMC) scheme is utilised to ensure the tracking performance as expected. By using Lyapunov synthesis, it is shown that all the signals of the whole system can be guaranteed to be uniformly ultimately bounded. To verify the effectiveness of the proposed control strategy, simulations and experiments are carried out with two different kinds of reference trajectories. Furthermore, a comparative work is done to show that the ESO-SMC controller has better control performance than traditional proportional-integral-derivative controller.