A new adaptive tracking control scheme of wheeled mobile robot without longitudinal velocity measurement

被引：13
|
作者：
Shu, Panfeng [1 ]
Oya, Masahiro [2 ]
Zhao, Junjie [1 ]
机构：
[1] Jiangsu Univ Technol, Dept Elect & Informat Engn, Changzhou, Peoples R China
[2] Kyushu Inst Technol, Dept Mech Control Engn, Kitakyushu, Fukuoka, Japan
来源：
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2018年 / 28卷 / 05期
关键词：
adaptive control; motor characteristics; trajectory tracking control; wheeled mobile robot; TRAJECTORY TRACKING; PREDICTIVE CONTROL;
D O I：
10.1002/rnc.3985
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper proposes a new adaptive trajectory tracking control scheme of the wheeled mobile robot without longitudinal velocity measurement. First, based on a kinematic controller, we obtain a new tracking error equation, which is suitable to develop an adaptive controller. Then, we develop a new adaptive trajectory tracking controller, which does not need any accurate values of the wheeled mobile robot parameters, including the driving motor parameters. Moreover, as the longitudinal velocity measurement is still difficult, this controller is developed without longitudinal velocity measurement. In addition, this new adaptive controller introduces a method to improve the control performance. The stability of the closed-loop system is presented using the direct Lyapunov method. Finally, numerous simulations verify the effectiveness of the new controller.
引用
收藏
页码：1789 / 1807
页数：19
相关论文
共 50 条
  • [1] Wheeled Mobile Robot Tracking Control without Velocity Measurement
    Wang, Qiang
    Tong, Guang
    Xing, Xin
    MECHATRONICS, ROBOTICS AND AUTOMATION, PTS 1-3, 2013, 373-375 : 231 - 237
  • [2] Adaptive Trajectory Tracking Control of Wheeled Mobile Robot
    Shen, Xiao
    Shi, Wuxi
    PROCEEDINGS OF THE 2019 31ST CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2019), 2019, : 5161 - 5165
  • [3] Adaptive Oscillation Control Scheme for a Wheeled Mobile Robot
    Zhou, Bo
    Eto, Tasuku
    Shibata, Hiroshi
    Oya, Masahiro
    PROCEEDINGS OF THE SEVENTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 17TH '12), 2012, : 85 - 88
  • [4] Robust adaptive tracking control of wheeled mobile robot
    Xin, Linjie
    Wang, Qinglin
    She, Jinhua
    Li, Yuan
    ROBOTICS AND AUTONOMOUS SYSTEMS, 2016, 78 : 36 - 48
  • [5] An adaptive technique for trajectory tracking control of a wheeled mobile robots without velocity measurements
    Taheri-Kalani J.
    Zarei N.A.
    Automatic Control and Computer Sciences, 2016, 50 (6) : 441 - 452
  • [6] Direct Model Reference Adaptive Tracking Control of Wheeled Mobile Robot
    Canigur, Emine
    2013 IEEE INTERNATIONAL SYMPOSIUM ON INNOVATIONS IN INTELLIGENT SYSTEMS AND APPLICATIONS (IEEE INISTA), 2013,
  • [7] Adaptive dynamic tracking control of uncertain wheeled mobile robot including actuator dynamics
    Koubaa, Yasmine
    Boukattaya, Mohamed
    Dammak, Tarak
    2016 17TH INTERNATIONAL CONFERENCE ON SCIENCES AND TECHNIQUES OF AUTOMATIC CONTROL AND COMPUTER ENGINEERING (STA'2016), 2016, : 374 - 379
  • [8] Adaptive Robust Control of Wheeled Mobile Robot with Uncertainties
    Li, Di
    Ye, Jinhua
    2014 IEEE 13TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL (AMC), 2014,
  • [9] Adaptive Path Tracking Control Design for a Wheeled Mobile Robot
    Naveed, Kanwal
    Khan, Zeashan H.
    CONFERENCE PROCEEDINGS OF 2017 3RD IEEE INTERNATIONAL CONFERENCE ON CONTROL SCIENCE AND SYSTEMS ENGINEERING (ICCSSE), 2017, : 194 - 199
  • [10] Adaptive tracking control of a wheeled mobile robot via an uncalibrated camera system
    Dixon, WE
    Dawson, DM
    Zergeroglu, E
    Behal, A
    IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS, 2001, 31 (03): : 341 - 352
12345