Abstract
A novel control approach is proposed for trajectory tracking of a wheeled mobile robot with unknown wheels’ slipping. The longitudinal and lateral slipping are considered and processed as three time-varying parameters. The adaptive unscented Kalman filter is then designed to estimate the slipping parameters online, an adaptive adjustment of the noise covariances in the estimation process is implemented using a technique of covariance matching in the adaptive unscented Kalman filter context. Considering the practical physical constrains, a stable tracking control law for this robot system is proposed by the backstepping method. Asymptotic stability is guaranteed by Lyapunov stability theory. Control gains are determined online by applying pole placement method. Simulation and real experiment results show the effectiveness and robustness of the proposed control method.
Highlights
Over the last several years, the control problem of the wheeled mobile robot (WMR) has been regarded as a fascinating problem because of the property of its nonholonomic constraints
Many developed controllers have been designed for tracking and stabilization of nonholonomic mobile robots using several nonlinear control techniques such as sliding mode control,[1,2,3,4,5,6] adaptive control,[7,8,9,10,11] backstepping control[12,13,14] and intelligent control based on neural networks,[15,16,17,18,19] fuzzy control,[20,21,22,23] and other intelligent control method.[24,25]
In ‘‘Kinematic model of the WMR with wheels’ slipping’’ section, we present the kinematics model of WMRs with longitudinal and lateral slipping induced from nonholonomic constraints
Summary
Over the last several years, the control problem of the wheeled mobile robot (WMR) has been regarded as a fascinating problem because of the property of its nonholonomic constraints. In ‘‘A scheme of the robotic slipping parameter estimation’’ section, a tracking controller for mobile robots in the presence of unknown longitudinal and lateral slipping is designed, and the stability of the proposed control system is analyzed. ! is the angular velocity of the WMR around the geometric center Om. The linear velocities of left and right driving wheels of mobile robot without slipping are given as follows vL 1⁄4 r!L vR 1⁄4 r!R (1). From equation (2), the linear velocities of the left and right wheels of the mobile robot with wheels’ slipping are given as vsL 1⁄4 r!Lð1 À aLÞ (4). Define an auxiliary control input 1⁄2v; !T , and the relationship between auxiliary control input and real control input 1⁄2!L; !RT is regarded as rð[1] À aLÞ!L þ rð[1] À aRÞ!R v !
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