A Trajectory Tracking Method for Wheeled Mobile Robots Based on Disturbance Observer

被引：26
|
作者：
Wang, Shuai [1 ]
Zhai, Junyong [1 ]
机构：
[1] Southeast Univ, Sch Automat, Minist Educ, Key Lab Measurement & Control CSE, Nanjing 210096, Jiangsu, Peoples R China
来源：
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | 2020年 / 18卷 / 08期
基金：
中国国家自然科学基金;
关键词：
Disturbance observer; input torque; kinematic controller; slip degree parameters; tracking error; OUTPUT-FEEDBACK CONTROL; NONLINEAR-SYSTEMS; ADAPTIVE TRACKING;
D O I：
10.1007/s12555-019-0156-8
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this article, an adaptive tracking control method is proposed for wheeled mobile robots (WMR). In the trajectory tracking control of WMR, skidding and slipping are taken into account, and the slip degree parameters are introduced. The disturbance observer is designed to estimate the total disturbances. Then, we design the adaptive controller to guarantee that the tracking errors asymptotically converge to zero, the stability of the system is proved by Lyapunov theory. Finally, the simulation results are provided to demonstrate the effectiveness of the proposed scheme.
引用
收藏
页码：2165 / 2169
页数：5
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