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

被引：0
作者：
Mingyue Cui
Rongjie Huang
Hongzhao Liu
Xuyan Liu
Dihua Sun
机构：
[1] Nanyang Normal University,College of Physical and Electronic Engineering
[2] Chongqing University,College of Automation
来源：
Nonlinear Dynamics | 2014年 / 78卷
关键词：
Wheeled mobile robot (WMR); Adaptive tracking control; Unknown longitudinal and lateral slip parameters; Sliding mode observer;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
An adaptive control approach is proposed for trajectory tracking of wheeled mobile robot (WMR) with unknown longitudinal and lateral slipping. A kinematic 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. A stable 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：15
相关论文
共 58 条
  • [1] Yang JM(1999)Sliding mode control of trajectory tracking of nonholonomic wheeled mobile robots IEEE Trans. Robot. Autom. 15 578-587
  • [2] Kim JH(2004)Sliding-mode control of nonholonomic wheeled mobile robots in polar coordinates IEEE Trans. Control Syst. Technol. 12 637-644
  • [3] Chwa D(2009)Adaptive neural sliding mode control of nonholonomic wheeled mobile robots with model uncertainty IEEE Trans. Control Syst. Technol. 17 207-214
  • [4] Park BS(2000)Adaptive tracking control of a nonholonomic mobile robot IEEE Trans. Robot. Autom. 16 609-615
  • [5] Yoo SJ(2004)Adaptive tracking and regulation of a wheeled mobile robot with controller/update law modularity IEEE Trans. Control Syst. Technol. 12 138-147
  • [6] Park JB(2005)Robust adaptive control of nonholonomic mobile robot with parameter and nonparameter uncertainties IEEE Trans. Robot. 21 261-266
  • [7] Choi YH(2004)Simultaneous tracking and stabilization of mobile robots: an adaptive approach IEEE Trans. Autom. Control 49 1147-1152
  • [8] Fukao T(2012)Adaptive fuzzy formation control for a swarm of nonholonomic differentially driven vehicles Nonlinear Dyn. 67 2747-2757
  • [9] Nakagawa H(1997)Tracking control of mobile robots: a case study in backstepping Automatica 33 1393-1399
  • [10] Adachi N(2000)Tracking control of uncertain dynamic nonholonomic system and its application to wheeled mobile robots IEEE Trans. Robot. Autom. 16 870-874
123456