Trajectory Tracking Control for Wheeled Mobile Robots with Kinematic Parameter Uncertainty

被引：18
作者：
Bai, Jianjun [1 ,2 ]
Du, Jian [1 ]
Li, Tianlong [3 ]
Chen, Yun [1 ]
机构：
[1] Hangzhou Dianzi Univ, Inst Informat Sci & Control, Hangzhou 310018, Peoples R China
[2] Key Lab IOT & Informat Fus Technol Zhejiang, Hangzhou 310018, Peoples R China
[3] Zhejiang Inst Mech & Elect Engn, Sch Modern Informat Technol, Hangzhou 310053, Peoples R China
来源：
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | 2022年 / 20卷 / 05期
基金：
中国国家自然科学基金;
关键词：
Adaptive control; kinematic model uncertainty; self-tuning; wheeled mobile robot;
D O I：
10.1007/s12555-021-0212-z
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The trajectory tracking control for a class of wheeled mobile robots (WMRs) with kinematic parameter uncertainty is studied in this paper. Firstly, a new Lyapunov function is proposed, based on which, a new kinematic controller for WMRs without parameter uncertainty is designed to make the tracking error system asymptotically stable. Secondly, the parameter uncertainty of the kinematic model is taken into consideration and an modified adaptive law is designed to deal with the uncertainty. Then, in order to improve the tracking performance, a self-tuning algorithm of the parameters of the controllers is proposed based on neural networks. Finally, numerical examples are given to illustrate the effectiveness of the proposed method.
引用
收藏
页码：1632 / 1639
页数：8
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