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In this paper a new strategy based on disturbance and uncertainty (DU)estimation and attenuation technique is proposed and tested on the nonlinearkinematic model of the differential drive mobile robot (DDMR). The proposedtechnique is an improved version of the Active Disturbance Rejection Control(ADRC) strategy suggested by J. Han. The ADRC is used to actively rejectdisturbances caused by the unknown exogenous signals and the matcheduncertainties of the system model, which are lumped all together and attributedas a total disturbance. In this work, the considered system is assumed to beaffine and the total disturbance and the input are considered to be ondifferent channels. To deal with the mismatched disturbances and uncertainties,the total disturbance has been converted into a matched one. Then, based on theimproved ADRC (IADRC), the dynamic performance of the DDMR has been enhanced byestimating the total disturbance and canceling it from the system. Throughdigital simulations, different performance measures are applied, and they allindicate the effectiveness of the proposed IADRC by almost removing thechattering phenomenon and providing a high immunity in the closed-loop systemagainst torque disturbance.

An Improved Active Disturbance Rejection Control for a Differential Drive Mobile Robot with Mismatched Disturbances and Uncertainties