Adaptive trajectory tracking control of two-wheeled self-balance robot

作者：Qin Yong^*; Zang Xizhe; Wang Xiaoyu; Li Tian; Zhao Jie

来源：High Technology Letters, 2009, 15(1): 38-43.

DOI：10.3772/j.issn.1006-6748.2009.01.007

• Adaptive control
• Adaptive tracking controllers
• Adaptive trajectories
• Control lyapunov functions
• Force analysis
• Global asymptotic stabilities
• Kinematic models
• Non-holonomic mobile robots
• Non-holonomic systems
• Non-linear dynamics models
• Real-time controls
• Research objectives
• Simulation results
• Tracking controls
• Trajectory tracking
• Unknown parameters
• Wheeled mobile robot

Wheeled mobile robot is one of the well-known nonholonomic systems. A two-wheeled self-balance robot is taken as the research objective. This paper carried out a detailed force analysis of the robot and established a non-linear dynamics model. An adaptive tracking controller for the kinematic model of a nonholonomic mobile robot with unknown parameters is also proposed. Using control Lyapunov CLF), the controller';s global asymptotic stability has been proven. The adaptive trajectory tracking controller decreases the disturbance in the course of tracking control and enhances the real-time control characteristics. The simulation result indicated that the wheeled mobile robot tracking can be effectively controlled.

• 出版日期2009