ESO-Based Tracking Control for Omnidirectional Mobile Manipulator with Vibration Suppression

This paper proposes an Extended State Observer (ESO)-based control method for suppressing vibrations in the tracking control of an omnidirectional mobile manipulator(OMM). Firstly, a dynamic model incorporating unknown vibrations is derived for the OMM. Subsequently, a fixed-time ESO is developed to estimate these vibration-induced disturbances. The fixed-time controller is designed using the backstepping method. Additionally, the stability of the closed-loop system is analyzed using Lyapunov theory. The effectiveness of the proposed method is validated through simulations.