Adaptive output feedback tracking control of a nonholonomic mobile robot

被引：183

作者：

Huang, Jiangshuai ^{[1
]}

Wen, Changyun ^{[1
]}

Wang, Wei ^{[2
]}

Jiang, Zhong-Ping ^{[3
]}

机构：

[1] Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore 639798, Singapore

[2] Tsinghua Univ, Dept Automat, Beijing 100084, Peoples R China

[3] NYU, Polytech Inst, Brooklyn, NY 11201 USA

来源：

AUTOMATICA | 2014年 / 50卷 / 03期

基金：

美国国家科学基金会;

关键词：

Adaptive output feedback; Nonholonomic mobile robots; High-gain observer; STABILIZATION; SYSTEMS; STATE;

D O I：

10.1016/j.automatica.2013.12.036

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

An adaptive output feedback tracking controller for nonholonomic mobile robots is proposed to guarantee that the tracking errors are confined to an arbitrarily small ball. The major difficulties are caused by simultaneous existence of nonholonomic constraints, unknown system parameters and a quadratic term of unmeasurable states in the mobile robot dynamic system as well as their couplings. To overcome these difficulties, we propose a new adaptive control scheme including designing a new adaptive state feedback controller and two high-gain observers to estimate the unknown linear and angular velocities respectively. It is shown that the closed loop adaptive system is stable and the tracking errors are guaranteed to be within the pre-specified bounds which can be arbitrarily small. Simulation results also verify the effectiveness of the proposed scheme. (C) 2014 Elsevier Ltd. All rights reserved.

引用

页码：821 / 831

页数：11

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