A novel inertia moment estimation algorithm collaborated with Active Force Control scheme for wheeled mobile robot control in constrained environments

•Current Active Force Control is suffering from noise in constrained environments.•The noise are raised from sensor measurements and inertia moment estimation.•The estimation of inertia moment is subjected to noise and can’t not be measured.•A novel algorithm has been introduced to estimate the inertia moment with noise.•A new control scheme for noise rejection has been developed in this paper.