Peak Response Mitigation in a Mecanum-Wheeled Mobile Robot Using Active Disturbance Rejection Control with S-Curve Motion Profiles

https://doi.org/10.58571/CNCA.AMCA.2025.005

Resumen: Mecanum-wheeled mobile robots offer notable flexibility for navigating in conglomerated environments, as they can move without reorientation, in contrast to car-like robots constrained by kinematics. However, their control remains challenging due to the wheels’ strong susceptibility to slippage and high-speed vibrations, leading to positioning and orientation errors. This manuscript presents an improved motion control using Active Disturbance Rejection Control and S-Curve motion profiles to mitigate peak responses. The structure is validated through simulations and experiments, and its performance is compared against step inputs and trapezoidal profiles.

¿Cómo citar?

Ortiz Hernández, J. & Rosas Almeida, D. (2025). Peak Response Mitigation in a
Mecanum-Wheeled Mobile Robot Using Active Disturbance Rejection Control with S-Curve Motion Profiles. Memorias del Congreso Nacional de Control Automático 2025, pp. 26-31. https://doi.org/10.58571/CNCA.AMCA.2025.005

Palabras clave

Mecanum mobile robot, Active Disturbance Rejection Control, Trapezoidal, S-Curve motion profile, Smooth reference.

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