Adaptive Dynamic Surface Control for Simultaneous Stabilization and Tracking of Wheeled Mobile Robot

Abstract

In this paper, an adaptive dynamic surface control algorithm is developed to simultaneously solve the problem of stabilization and tracking control for wheeled mobile robot with uncertain parameters and external disturbances. For the kinematic model, virtual controllers are deigned to achieve asymptotic stabilization and tracking. For the dynamic model, fuzzy logic systems are used to approximate the unknown nonlinear functions. Furthermore, the adaptation laws are utilized to estimate the unknown parameters including the upper bounds of external disturbances, as well as the upper bounds of approximation errors and the norms of the optimal weight vectors of the fuzzy logic systems. Incorporating the dynamic surface control technique into the backstepping design method, the dynamic controller is proposed to overcome the problem of ‘explosion of terms’ so that the amount of calculation is reduced and it can be easy to realize in engineering. Using the Lyapunov stability theory, it is proved that the proposed dynamic controller can make the tracking errors converge to a small neighborhood of the origin point. Finally, simulation results are given to show the validity of the proposed control scheme.