A trajectory tracking control of wheeled mobile robot using a model reference adaptive fuzzy controller

被引：0

作者：

Kim, Seungwoo

Seo, Kisung

Cho, Youngwan

机构：

来源：

Journal of Institute of Control, Robotics and Systems | 2009年 / 15卷 / 07期

关键词：

Model reference adaptive control; Torque control; Trajectory tracking; TS fuzzy model; Wheeled mobile robot;

D O I：

10.5302/J.ICROS.2009.15.7.711

中图分类号：

学科分类号：

摘要：

This paper presents a design scheme of torque control for wheeled mobile robot (WMR) to asymptotically track the target reference trajectory. By considering the kinematic model of WMR, trajectory tracking control generates the desired tracking trajectory, which is transformed into the command velocity vector for the real WMR to track the target reference trajectory. The dynamic equation of the state error between the target reference trajectory and the desired tracking trajectory is represented by Takagi-Sugeno fuzzy model, and this model is used as the reference model for the real mobile robot error dynamics to follow. The control parameters are updated by adaptive laws that are designed for the error states of the real WMR to asymptotically follow the states of reference error model for the desired tracking trajectory. The proposed control is applied to a typical wheeled mobile robot and simulation studies are carried out to verify the validity and effectiveness of the control scheme.

引用

页码：711 / 719

页数：8

共 19 条

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