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This article proposes a model-free control strategy for wheeled mobile robots (WMRs) to improve their performance in disturbance-affected working environments. The proposed control strategy is built on the extended state observer (ESO), which accurately estimates the states and the total disturbances affecting the robot. Based on these estimates, a sliding controller with a PID sliding surface is employed to minimize the influence of noise components on the system, thereby improving control quality and ensuring robust performance for the robot. The effectiveness of the proposed controller is validated through Lyapunov stability theory and simulation results, and it is compared with the SMC-PI controller without ESO.

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Observer-Based Hybrid PID Control for Trajectory Tracking of Wheeled Mobile Robot Subject to Disturbances

  • 会议论文

  • 发表日期：

    2025年

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  • Luong Tran Duc,
  • Phuong Ho Sy,
  • Du Phan Van,
  • Tu Duong Dinh,
  • Chuong Le Van,
  • Son Dang Thai,
  • Tien Dung Cao Nguyen,
  • Thu Uyen Le Thi,
  • Vy Phan Van,
  • Nam Tran Phuong

摘要

This article proposes a model-free control strategy for wheeled mobile robots (WMRs) to improve their performance in disturbance-affected working environments. The proposed control strategy is built on the extended state observer (ESO), which accurately estimates the states and the total disturbances affecting the robot. Based on these estimates, a sliding controller with a PID sliding surface is employed to minimize the influence of noise components on the system, thereby improving control quality and ensuring robust performance for the robot. The effectiveness of the proposed controller is validated through Lyapunov stability theory and simulation results, and it is compared with the SMC-PI controller without ESO.