Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots with External Disturbances and Parameter Uncertainties

被引：42

作者：

Ye, Hui ^{[1
]}

Wang, Shuai ^{[2
]}

机构：

[1] Jiangsu Univ Sci & Technol, Sch Sci, Zhenjiang 212000, Jiangsu, Peoples R China

[2] Southeast Univ, Sch Automat, Nanjing 210096, Jiangsu, Peoples R China

来源：

INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | 2020年 / 18卷 / 12期

关键词：

Adaptive sliding mode control; Lyapunov stability; nonholonomic wheeled mobile robot; FINITE-TIME STABILITY; SLIDING MODE CONTROL; ADAPTIVE-CONTROL; NONLINEAR-SYSTEMS; STABILIZATION; OBSERVER;

D O I：

10.1007/s12555-019-0643-y

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Aiming at the trajectory tracking problem of nonholonomic wheeled mobile robots (WMR) with bounded external disturbances and parameter uncertainties, a dual-loop attitude tracking robust controller is proposed for WMR. Firstly, a kinematic controller is designed to generate the virtual velocity based on the kinematic error model. Secondly, the sliding mode control with a modified reaching law is adopted to ensure the actual velocity can converge to the virtual velocity in finite time based on the dynamic model. Finally, the stability of the controller is verified through the Lyapunov function. Numerical simulation shows the robustness and effectiveness of the proposed dual-loop tracking controller.

引用

页码：3015 / 3022

页数：8

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