Adaptive trajectory tracking control of a differential drive wheeled mobile robot

作者：Shojaei Khoshnam^*; Shahri Alireza Mohammad; Tarakameh Ahmadreza; Tabibian Behzad

来源：Robotica, 2011, 29: 391-402.

DOI：10.1017/S0263574710000202

• Adaptive feedback linearization
• Parametric uncertainty
• Trajectory tracking
• Non-holonomic WMR

This paper presents an adaptive trajectory tracking controller for a non-holonomic wheeled mobile robot (WMR) in the presence of parametric uncertainty in the kinematic and dynamic models of the WMR and actuator dynamics. The adaptive non-linear control law is designed based on input-output feedback linearization technique to get asymptotically exact cancellation for the uncertainty in the given system parameters. In order to evaluate the performance of the proposed controller, a non-adaptive controller is compared with the adaptive controller via computer simulation results. The results show satisfactory trajectory tracking performance by virtue of SPR-Lyapunov design approach. In order to verify the simulation results, a set of experiments have been carried out on a commercial mobile robot. The experimental results also show the effectiveness of the proposed controller.

• 出版日期2011-5