An Adaptive Control Technique for Trajectory Tracking of a Mobile Robot Using Synchronization method

被引：0
|
作者：
Kumar, Rohit [1 ]
Patel, Aradhna [1 ]
Purwar, Shubhi [1 ]
机构：
[1] MNNIT, Elect Engn Dept, Allahabad, Uttar Pradesh, India
来源：
2017 INTERNATIONAL CONFERENCE ON INTELLIGENT COMPUTING, INSTRUMENTATION AND CONTROL TECHNOLOGIES (ICICICT) | 2017年
关键词：
Adaptive control; synchronization; mobile robot; SYSTEMS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A control algorithm for trajectory tracking of a differential mobile robot has been developed using adaptive controller. A synchronization error is defined to regulate the differential position errors of the two driving wheels to zero and thus regulate the heading angle of the robot. The proposed controller guarantees asymptotic convergence of the position error of wheels and the synchronization error to zero. The proposed technique is validated through simulation studies and compared to the results obtained in previous literature.
引用
收藏
页码：344 / 348
页数：5
相关论文
共 50 条
  • [1] Adaptive trajectory tracking control method of mobile robot
    Li, Kun-Peng
    Wang, Sun-An
    Guo, Zi-Long
    Xitong Fangzhen Xuebao / Journal of System Simulation, 2008, 20 (10): : 2575 - 2578
  • [2] Adaptive Trajectory Tracking Control for a Nonholonomic Mobile Robot
    Cao Zhengcai
    Zhao Yingtao
    Wu Qidi
    CHINESE JOURNAL OF MECHANICAL ENGINEERING, 2011, 24 (04) : 546 - 552
  • [3] Adaptive Trajectory Tracking Control for a Nonholonomic Mobile Robot
    CAO Zhengcai1
    Chinese Journal of Mechanical Engineering, 2011, 24 (04) : 546 - 552
  • [4] 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
  • [5] Adaptive Fuzzy Control for Trajectory Tracking of Mobile Robot
    Liang, Yuming
    Xu, Lihong
    Wei, Ruihua
    Hu, Haigen
    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), 2010, : 4755 - 4760
  • [6] Adaptive trajectory tracking control for a nonholonomic mobile robot
    College of Information Science and Technology, Beijing University of Chemical Technology, Beijing 100029, China
    不详
    不详
    Chin J Mech Eng Engl Ed, 4 (546-552):
  • [7] Trajectory-Tracking for a Mobile Robot Using Robust Predictive Control and Adaptive Control
    Chen, Yao
    Kong, Haiyi
    Li, Zhijun
    Ke, Fan
    2018 3RD IEEE INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (IEEE ICARM), 2018, : 30 - 35
  • [8] Development of an Adaptive Trajectory Tracking Control of Wheeled Mobile Robot
    Suarez-Riveral, Guiovanny
    Munoz-Ceballos, Nelson-David
    Vasquez-Carvajal, Henry-Mauricio
    REVISTA FACULTAD DE INGENIERIA, UNIVERSIDAD PEDAGOGICA Y TECNOLOGICA DE COLOMBIA, 2021, 30 (55):
  • [9] Control of Mobile Robot for Trajectory Tracking by Sliding Mode Control Technique
    Sharma, Ankit
    Panwar, Vikas
    2016 INTERNATIONAL CONFERENCE ON ELECTRICAL, ELECTRONICS, AND OPTIMIZATION TECHNIQUES (ICEEOT), 2016, : 3988 - 3994
  • [10] A novel adaptive robust control for trajectory tracking of mobile robot with uncertainties
    Xiao, Wendong
    Wang, Guoliang
    Tian, Jin
    Yuan, Liang
    JOURNAL OF VIBRATION AND CONTROL, 2024, 30 (5-6) : 1313 - 1325
12345