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
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