A PRACTICAL TRAJECTORY TRACKING APPROACH FOR AUTONOMOUS MOBILE ROBOTS: NONLINEAR ADAPTIVE H-2 DESIGN

作者：Chen Yung Hsiang; Li Tzuu Hseng S; Chen Yung Yue

来源：Transactions of the Canadian Society for Mechanical Engineering, 2013, 37(3): 385-394.

• autonomous mobile robot
• nonlinear adaptive control law
• H-2 performance index
• closed-form solution

A nonlinear adaptive trajectory tracking design for autonomous mobile robot and its practical implementation are presented in this paper. This approach can be applied to generate trajectory tracking control commands for autonomous mobile robot tracking predefined trajectories. The design objective is to specify one nonlinear controller with a parameter adaptive law that satisfies the adaptive H-2 optimal performance. In general, it is hard to obtain the closed-form solution from this nonlinear trajectory tracking problem. Fortunately, based on the property of the trajectory tracking error dynamic system of the autonomous mobile robot, one closed-form solution to this problem can be obtained with a very simple form for the preceding control design.

• 出版日期2013