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

被引：39
|
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
收藏
页码：3015 / 3022
页数：8
相关论文
共 50 条
  • [31] Adaptive sliding mode trajectory tracking control for wheeled mobile robots
    Zhai, Jun-yong
    Song, Zhi-bao
    INTERNATIONAL JOURNAL OF CONTROL, 2019, 92 (10) : 2255 - 2262
  • [32] Trajectory tracking control for wheeled mobile robots subject to longitudinal slippage
    Bai, Jianjun
    Ren, Mengwei
    Li, Jianning
    Chen, Yun
    ASIAN JOURNAL OF CONTROL, 2025,
  • [33] Adaptive Tracking Control of Wheeled Mobile Robots
    Zuo, Min
    Zeng, Guangping
    Tu, Xuyan
    RECENT TRENDS IN MATERIALS AND MECHANICAL ENGINEERING MATERIALS, MECHATRONICS AND AUTOMATION, PTS 1-3, 2011, 55-57 : 1195 - +
  • [34] Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints
    Yang, Hongjiu
    Guo, Mingchao
    Xia, Yuanqing
    Cheng, Lei
    IET CONTROL THEORY AND APPLICATIONS, 2018, 12 (02) : 206 - 214
  • [35] Stabilization Control of Nonholonomic Wheeled Mobile Service Robots
    Chang Jiang
    Meng Qing-xin
    ADVANCED DESIGN AND MANUFACTURE II, 2010, 419-420 : 593 - 596
  • [36] A Simple Adaptive Control Approach for Trajectory Tracking of Electrically Driven Nonholonomic Mobile Robots
    Park, Bong Seok
    Yoo, Sung Jin
    Park, Jin Bae
    Choi, Yoon Ho
    IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2010, 18 (05) : 1199 - 1206
  • [37] Adaptive Trajectory Tracking for Quadrotor MAVs in Presence of Parameter Uncertainties and External Disturbances
    Antonelli, Gianluca
    Cataldi, Elisabetta
    Arrichiello, Filippo
    Giordano, Paolo Robuffo
    Chiaverini, Stefano
    Franchi, Antonio
    IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2018, 26 (01) : 248 - 254
  • [38] Observer-based finite-time control for trajectory tracking of wheeled mobile robots with kinematic disturbances
    Miranda-Colorado, Roger
    ISA TRANSACTIONS, 2024, 148 : 64 - 77
  • [39] Tracking control of uncertain dynamic nonholonomic system and its application to wheeled mobile robots
    Dong, WJ
    Huo, W
    Tso, SK
    Xu, WL
    IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2000, 16 (06): : 870 - 874
  • [40] Sliding-mode tracking control of nonholonomic wheeled mobile robots in polar coordinates
    Chwa, D
    IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2004, 12 (04) : 637 - 644
12345