A Simple Adaptive Control Approach for Trajectory Tracking of Electrically Driven Nonholonomic Mobile Robots

Almost all existing controllers for nonholonomic mobile robots are designed without considering the actuator dynamics. This is because the presence of the actuator dynamics increases the complexity of the system dynamics, and makes difficult the design of the controller. In this paper, we propose a...

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Bibliographic Details
Published in:IEEE transactions on control systems technology 2010-09, Vol.18 (5), p.1199-1206
Main Authors: Park, Bong Seok, Yoo, Sung Jin, Park, Jin Bae, Choi, Yoon Ho
Format: Article
Language:English
Subjects:
Actuator dynamics
Actuators
Adaptative systems
Adaptive control
Applied sciences
Backstepping
Computer science
control theory
systems
Control system synthesis
Control systems
Control theory. Systems
Controllers
Design engineering
dynamic surface design
Dynamical systems
Dynamics
Exact sciences and technology
Laws
Mobile robots
nonholonomic mobile robots
Robot control
robot dynamics
Robot kinematics
Robotics
Robots
Surface treatment
Trajectory
Uncertainty
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Summary:Almost all existing controllers for nonholonomic mobile robots are designed without considering the actuator dynamics. This is because the presence of the actuator dynamics increases the complexity of the system dynamics, and makes difficult the design of the controller. In this paper, we propose a simple adaptive control approach for path tracking of uncertain nonholonomic mobile robots incorporating actuator dynamics. All parameters of robot kinematics, robot dynamics, and actuator dynamics are assumed to be uncertain. For the simple controller design, the dynamic surface control methodology is applied and extended to mobile robots that the number of inputs and outputs is different. We also adopt the adaptive control technique to treat all uncertainties and derive adaptation laws from the Lyapunov stability theory. Finally, simulation results demonstrate the effectiveness of the proposed controller.
ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2009.2034639