A new adaptive tracking control scheme of wheeled mobile robot without longitudinal velocity measurement

作者：Shu, Panfeng^*; Oya, Masahiro; Zhao, Junjie

来源：International Journal of Robust and Nonlinear Control, 2018, 28(5): 1789-1807.

DOI：10.1002/rnc.3985

• adaptive control
• motor characteristics
• trajectory tracking control
• wheeled mobile robot

This paper proposes a new adaptive trajectory tracking control scheme of the wheeled mobile robot without longitudinal velocity measurement. First, based on a kinematic controller, we obtain a new tracking error equation, which is suitable to develop an adaptive controller. Then, we develop a new adaptive trajectory tracking controller, which does not need any accurate values of the wheeled mobile robot parameters, including the driving motor parameters. Moreover, as the longitudinal velocity measurement is still difficult, this controller is developed without longitudinal velocity measurement. In addition, this new adaptive controller introduces a method to improve the control performance. The stability of the closed-loop system is presented using the direct Lyapunov method. Finally, numerous simulations verify the effectiveness of the new controller.

• 出版日期2018-3-25
• 单位江苏大学