Finite-Time Pure Pursuit Guidance Control of a Four Mecanum Wheeled Mobile Robot With Active Disturbance Rejection

This paper addresses the challenge of precise control and robust trajectory tracking for Four Mecanum Wheeled Mobile Robots (FMWMR) operating in environments where time-sensitive responses are critical and external conditions may vary. Traditional control approaches often fall short due to slow conv...

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Bibliographic Details

Published in:	IEEE Access
Main Authors:	Nayan Banik, Jawhar Ghommam, Mohammad H. Rahman
Format:	Article
Language:	English
Published:	IEEE 2025-01-01
Subjects:	Mecanum wheeled mobile robot prescribed-time control cascaded extended state observer pure pursuit guidance trajectory tracking
Online Access:	https://ieeexplore.ieee.org/document/10908211/