Trajectory Tracking of Mobile Robots Based on Fuzzy Control and Extended State Observer

Abstract

A new trajectory tracking control scheme is proposed for mobile robots based on the fuzzy control and extended state observer in this paper. The fuzzy logic control adjusts the three parameters of the speed controller online, so as to achieve better control effect. The extended state observer is designed to estimate the unknown disturbance information of the system and compensate it. The trajectory tracking controller can track the reference trajectory expeditiously and accurately. And the position errors of the mobile robot eventually converges to zero. The simulation results show that the control scheme is effective and reliable.