Trajectory tracking control of a four mecanum wheeled mobile platform: an extended state observer‐based sliding mode approach

This study proposes an extended state observer-based sliding mode control (ESO-SMC) strategy for trajectory tracking of a four mecanum wheeled mobile platform (FMWMP) with unknown disturbances and model uncertainties (UDMU) considered. Especially, the extended state observer (ESO) is designed to estimate not only the UDMU but also the unmeasured velocities of FMWMP. Based on the designed ESO, a sliding mode control (SMC) scheme is utilised to...