Dual closed-loop tracking control for wheeled mobile robots via active disturbance rejection control and model predictive control

A dual closed-loop tracking control is proposed for a wheeled mobile robot based on active disturbance rejection control (ADRC) and model predictive control (MPC). In the inner loop system, the ADRC scheme with an extended state observer (ESO) is proposed to estimate and compensate external disturbances. In the outer loop system, the MPC strategy is developed to generate a desired velocity for the inner loop dynamic system subject to a diamond-shaped input constraint. Both effectiveness and stability analysis are given for the ESO and the dual closed-loop system, respectively. Simulation results demonstrate the performances of the proposed control scheme.