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Related Experiment Video

Updated: Dec 30, 2025

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
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A structure-improved extended state observer based control with application to an omnidirectional mobile robot.

Chao Ren1, Yutong Ding1, Shugen Ma2

  • 1School of Electrical and Information Engineering, Tianjin University, Tianjin, 300072, China.

ISA Transactions
|January 28, 2020
PubMed
Summary
This summary is machine-generated.

A novel structure-improved extended state observer (SESO) enhances trajectory tracking for omnidirectional robots. This method reduces initial peaking and improves disturbance estimation for superior control performance.

Keywords:
Extended state observerInitial peaking phenomenonOmnidirectional mobile robotTrajectory tracking control

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Area of Science:

  • Robotics
  • Control Systems Engineering

Background:

  • Traditional extended state observers (TESO) suffer from initial peaking, affecting control accuracy.
  • Accurate estimation and compensation of total disturbances are crucial for robust robot trajectory tracking.

Purpose of the Study:

  • To propose a structure-improved extended state observer (SESO) to mitigate TESO's initial peaking phenomenon.
  • To develop a trajectory tracking control scheme for omnidirectional mobile robots using the enhanced SESO.
  • To achieve superior estimation performance and high trajectory tracking accuracy.

Main Methods:

  • A reduced-order SESO is designed by modifying the TESO structure.
  • The SESO estimates and compensates for total disturbances within the control loop.
  • A phase-based nonlinear proportional-differential controller with time-varying gains is employed.

Main Results:

  • The proposed SESO demonstrates superior estimation performance compared to TESO.
  • The control scheme achieves high trajectory tracking performance for omnidirectional mobile robots.
  • Stability analysis confirms the robustness of the SESO and the closed-loop system.

Conclusions:

  • The SESO-based control scheme effectively addresses the limitations of TESO.
  • The proposed method offers a viable solution for precise trajectory tracking in mobile robotics.
  • Validation through simulations and experiments confirms the practical effectiveness of the approach.