Abstract
A trajectory tracking design for wheeled mobile robots is presented in this article. The design objective is to develop one nonlinear robust control law for the trajectory tracking problem of wheeled mobile robots in the presence of modeling uncertainties. The main contribution of this investigation is as follows. Under the effects of modeling uncertainties, an effective control design which can quickly converge tracking errors between the controlled wheeled mobile robot and the desired trajectory is derived mathematically. Generally, it is difficult to develop a nonlinear robust control design for the trajectory tracking problem of wheeled mobile robots due to the complexity and nonlinearity of the wheeled mobile robots’ dynamics. Fortunately, based on a series analysis for the tracking error dynamics of the controlled wheeled mobile robot, one promising solution is obtained. For verifying the trajectory tracking performance of this proposed method, two scenarios are utilized in the simulations and the practical tests.
Highlights
In the past decades, technological advances and the emergence of the digital era have led to the ubiquitous use of mobile robots in daily life
The precise motion control of wheeled mobile robots (WMRs) has attracted a great deal of attention from researchers and the robotics industry in recent decades.[1,2,3,4,5,6]
As to control designs realized by backstepping control, neural network control, or fuzzy control, these kinds of methodologies are normally complicated in control structures that are not implemented with low-cost microchips due to their high computational consumptions
Summary
Technological advances and the emergence of the digital era have led to the ubiquitous use of mobile robots in daily life. As to control designs realized by backstepping control, neural network control, or fuzzy control, these kinds of methodologies are normally complicated in control structures that are not implemented with low-cost microchips due to their high computational consumptions Based on these reasons, authors try to propose an advanced nonlinear robust control method which is with an easy implemented structure and can provide a satisfactory trajectory tracking performance for WMRs in the presence of the modeling uncertainties. Authors try to propose an advanced nonlinear robust control method which is with an easy implemented structure and can provide a satisfactory trajectory tracking performance for WMRs in the presence of the modeling uncertainties This proposed nonlinear robust control method achieves almost zero tracking errors under the effects of the modeling uncertainties via integrating a feedback linearization controller and a robust compensator. Ð2Þ and the kinematic equation for the WMRs under the constraint can be described as x_
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