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

被引：14

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

页码：1789 / 1807

页数：19

共 50 条

[41] Trajectory tracking control for wheeled mobile robot subject to slipping and skidding [J].

Bai, Jianjun ;

Liu, Chen ;

Zhou, Shengzhe ;

Chen, Yun ;

Li, Xujun .

NEUROCOMPUTING, 2025, 638

[42] Trajectory Tracking Control Method of Wheeled Mobile Robot with Uncertain Slippage [J].

Wu, Hao ;

Liang, Zhong-Chao ;

Wang, Wen-Cheng ;

Wang, Yong-Fu .

Dongbei Daxue Xuebao/Journal of Northeastern University, 2024, 45 (06) :858-865

[43] An Optimal Robust Trajectory Tracking Control Strategy for the Wheeled Mobile Robot [J].

Bin Chai ;

Ke Zhang ;

Minghu Tan ;

Jingyu Wang .

International Journal of Control, Automation and Systems, 2024, 22 :1050-1065

[44] Backstepping based trajectory tracking control of a four wheeled mobile robot [J].

Kumar, Umesh ;

Sukavanam, Nagarajan .

INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2008, 5 (04) :403-410

[45] Adaptive trajectory tracking control of two-wheeled self-balance robot [J].

秦勇 .

HighTechnologyLetters, 2009, 15 (01) :38-43

[46] Adaptive Fuzzy Output Feedback Control of a Nonholonomic Wheeled Mobile Robot [J].

Peng, Shuying ;

Shi, Wuxi .

IEEE ACCESS, 2018, 6 :43414-43424

[47] Adaptive sliding mode control of a wheeled mobile robot towing a trailer [J].

Khalaji, Keymasi ;

Moosavian, S. Ali A. .

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING, 2015, 229 (02) :169-183

[48] Neural Adaptive Tracking Control for Wheeled Mobile Robots [J].

Li, Zhencai ;

Wang, Yang ;

Song, Xingguo ;

Liu, Zhen .

PROCEEDINGS OF 2015 INTERNATIONAL CONFERENCE ON FLUID POWER AND MECHATRONICS - FPM 2015, 2015, :610-617

[49] Dual reinforcement learning adaptive fuzzy control of wheeled mobile robot [J].

Ye, Jin-Hua ;

Li, Di ;

Ye, Feng .

Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition), 2014, 44 (03) :742-749

[50] Vision-Based Adaptive Trajectory Tracking Control of Wheeled Mobile Robot With Unknown Translational External Parameters [J].

Shao, Zhiyue ;

Zhang, Jinhui .

IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2024, 29 (01) :358-365

← 1 2 3 4 5 →