Abstract
Based on wheeled mobile robots (WMRs) with unknown longitudinal slipping parameters, an adaptive control strategy for a tracked mobile robot is presented, in which the longitudinal slipping of the left and right wheels are described by two unknown parameters. The kinematic model of mobile robot with wheels’ slipping is derived from the motion model of mobile robot without wheels’ slipping. Employing the Lyapunov direct method, an adaptive nonlinear feedback control law that compensates for the longitudinal slipping is proposed to achieve an objective of tracking a given trajectory. The orientation angle observer is designed to estimate the immeasurable orientation angle of the robot by employing the coordinate information. Asymptotic stability of the closed-loop system is ensured by choosing an appropriate Lyapunov function. Numerical and experimental results show the effectiveness of the proposed control approach.
Highlights
In the past two decades, wheeled mobile robots (WMRs) are increasingly presented in the fields of industry, agriculture, national defense and service, the problem of motion control of WMRs has attracted the interest of the researchers in view of its theoretical challenges result from the nature of the nonholonomic constraints [1], [2]
Many researchers have designed tracking and stabilization controllers for nonholonomic mobile robots using nonlinear control methods, such as sliding mode control[3]–[6], adaptive control[7]–[10], back-stepping control[11], [12], optimal control [13]–[15], intelligent control based on neural network[16]–[18] and fuzzy control[19], [20]
The nonlinear model of the mobile robot is transformed into a time-varying linear model, and a trajectory tracking controller is designed by using Linear Matrix Inequality (LMI) method
Summary
In the past two decades, wheeled mobile robots (WMRs) are increasingly presented in the fields of industry, agriculture, national defense and service, the problem of motion control of WMRs has attracted the interest of the researchers in view of its theoretical challenges result from the nature of the nonholonomic constraints [1], [2]. The nonlinear model of the mobile robot is transformed into a time-varying linear model, and a trajectory tracking controller is designed by using Linear Matrix Inequality (LMI) method. These studies all assume that sensors (such as GPS, photoelectric encoder, etc.) can directly detect the wheels’ slipping information of mobile robots in real time, that is, the slipping parameters are known, which is often difficult to achieve in the practical engineering of wheeled mobile robots. Cui et al proposed an adaptive tracking controller of the WMRs with unknown wheels’ slipping ratios by designing sliding mode observer and Adaptive Unscented
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