Based on Hierarchical Strategy of Adaptive Tracking Control of Mobile Robots Using Backstepping Design

Abstract

A hierarchical control architecture, divided into upper and lower control levels, for the trajectory tracking control of mobile robots is proposed in this paper. The objective of the upper control level is to navigate the mobile robot on the desired trajectories by means of the kinematic model. A control law based on backstepping techniques is synthesized to make the posture error asymptotically stable. On the lower control level, the dynamic model of the robot is adopted from practical viewpoint. In order to guarantee the global asymptotic stability and demanded performance, a time-varying adaptive tracking control is designed such that the generalized velocities can converge to the upper control level's inputs. A hybrid controller is developed to incorporate the kinematic controller into the dynamic controller to deal with uncertain dynamic parameters of the mobile robot. Simulation results are utilized to illustrate the effectiveness of the proposed control algorithm.