Trajectory tracking control of WMRs with lateral and longitudinal slippage based on active disturbance rejection control

With the increasing application of wheeled mobile robots on soft terrains, the challenge of lateral and longitudinal slippage existing in the contact surface between the wheels and the terrain has attracted more attention. To address the difficulties caused by the lateral and longitudinal slippage, this paper proposes an improved linear active disturbance rejection control (LADRC) method for path tracking control of a six-wheeled corner steering rover. Based on the LADRC, the tracking differentiator and nonlinear state error feedback are introduced into the improved LADRC. By using the improved LADRC, the influence of disturbances in inputs can be attenuated and a higher regulating efficiency than LADRC can be achieved. The simulations validate the effectiveness of the proposed approach with a good tracking performance.