Adaptive Trajectory Tracking Control System of Two-Wheeled Robot

被引：3
作者：
Uddin, Nur [1 ]
机构：
[1] Univ Pembangunan Jaya, Dept Informat, Jl Cendrawasih Raya B7-P, Ciputat 15413, Tangerang Selat, Indonesia
来源：
2019 CONFERENCE ON FUNDAMENTAL AND APPLIED SCIENCE FOR ADVANCED TECHNOLOGY | 2019年 / 1373卷
关键词：
PENDULUM;
D O I：
10.1088/1742-6596/1373/1/012052
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
A design of two-wheeled robot (TWR) trajectory tracking control system (TTCS) using model reference adaptive control method is presented. The TTCS is to steer the TWR track a desired trajectory. The tracking system dynamic is represented by a posture error dynamic. The posture error dynamic is derived based on the robot kinematics. Assuming small heading angles the posture error dynamic is approached by a a linear system. Model reference adaptive control (MRAC) is applied in designing the TTCS based on the linear posture error dynamic. The TTCS performace is evaluated through computer simulation. The simulation results show that the designed controller is able to make the TWR track a desired trajectory.
引用
收藏
页数：11
相关论文
共 24 条
[1]  
[Anonymous], 2013, ADAPTIVE CONTROL COU
[2]  
[Anonymous], 1996, ROBUST ADAPTIVE CONT
[3]  
[Anonymous], 2013, ADV ROB AUTOM
[4]   Review of modelling and control of two-wheeled robots [J].
Chan, Ronald Ping Man ;
Stol, Karl A. ;
Halkyard, C. Roger .
ANNUAL REVIEWS IN CONTROL, 2013, 37 (01) :89-103
[5]   Adaptive backstepping control of wheeled inverted pendulums models [J].
Cui, Rongxin ;
Guo, Ji ;
Mao, Zhaoyong .
NONLINEAR DYNAMICS, 2015, 79 (01) :501-511
[6]   Trajectory tracking control for navigation of the inverse pendulum type self-contained mobile robot [J].
Ha, YS ;
Yuta, S .
ROBOTICS AND AUTONOMOUS SYSTEMS, 1996, 17 (1-2) :65-80
[7]   Global tracking control of underactuated ships by Lyapunov's direct method [J].
Jiang, ZP .
AUTOMATICA, 2002, 38 (02) :301-309
[8]   Tracking control of mobile robots: A case study in backstepping [J].
Jiang, ZP ;
Nijmeijer, H .
AUTOMATICA, 1997, 33 (07) :1393-1399
[9]  
Kanayama Y, 1990, IEEE INT C 1990 P
[10]  
Khalil H.K., 2002, NONINEAR SYSTEMS
123