Hybrid Extended State Observer with Enhanced Sliding Mode Control for Tracking and Disturbance Rejection for Mecanum Wheeled Mobile Robots Applied in Automotive Manufacturing

Abstract

This paper introduces an Adaptive Sliding Mode Control (ADSMC) framework integrated with an Extended State Observer (ESO) to enhance the robustness of a Mecanum Four Wheel Autonomous Vehicle (MFWAV) for automotive intralogistics. where mobile robots are subjected to external disturbances and model uncertainties that degrade tracking accuracy. The proposed control law is systematically derived from the robot’s nonlinear dynamic model through the construction of an appropriate Lyapunov candidate function, ensuring closed-loop stability under varying operating conditions. The ADSMC–ESO scheme is designed to provide robust disturbance rejection and adaptive compensation for parametric variations while maintaining high tracking precision, offering improved adaptability and robustness for modern automotive manufacturing.