Adaptive tracking control of wheeled mobile robots with unknown longitudinal and lateral slipping parameters

被引：36
作者：
Cui, Mingyue [1 ,2 ]
Huang, Rongjie [1 ]
Liu, Hongzhao [1 ]
Liu, Xuyan [1 ]
Sun, Dihua [2 ]
机构：
[1] Nanyang Normal Univ, Coll Phys & Elect Engn, Nanyang 473061, Peoples R China
[2] Chongqing Univ, Coll Automat, Chongqing 400030, Peoples R China
来源：
NONLINEAR DYNAMICS | 2014年 / 78卷 / 03期
关键词：
Wheeled mobile robot (WMR); Adaptive tracking control; Unknown longitudinal and lateral slip parameters; Sliding mode observer; SLIDING-MODE CONTROL; NEURAL-NETWORK; SYSTEMS; DESIGN;
D O I：
10.1007/s11071-014-1549-0
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
An adaptive control approach is proposed for trajectory tracking of wheeled mobile robot (WMR) with unknown longitudinal and lateral slipping. Akinematic model of tracked WMR is established in this paper, in which both longitudinal and lateral slipping are considered and processed as three time-varying parameters. Sliding mode observer is then introduced to real time estimate the slip parameters online. Astable tracking control law for this robot system is proposed by backstepping method, and the asymptotic stability is guaranteed by Lyapunov theory. Meanwhile, the controller gains are determined online by poles placement method. Simulation results show the effectiveness and robustness of the proposed method.
引用
收藏
页码：1811 / 1826
页数：16
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