Adaptive Tracking and Obstacle Avoidance Control for Mobile Robots With Unknown Sliding

作者：Cui Mingyue^*; Sun Dihua; Liu Weining; Zhao Min; Liao Xiaoyong

来源：International Journal of Advanced Robotic Systems, 2012, 9: 171.

DOI：10.5772/52077

• Wheeled mobile robot
• Obstacle avoidance
• Potential function
• Adaptive control
• Unknown sliding parameters
• Sliding model observer

An adaptive control approach is proposed for trajectory tracking and obstacle avoidance for mobile robots with consideration given to unknown sliding. A kinematic model of mobile robots is established in this paper, in which both longitudinal and lateral sliding are considered and processed as three time-varying parameters. A sliding model observer is introduced to estimate the sliding parameters online. A stable tracking control law for this nonholonomic system is proposed to compensate the unknown sliding effect. From Lyapunov-stability analysis, it is proved, regardless of unknown sliding, that tracking errors of the controlled closed-loop system are asymptotically stable, the tracking errors converge to zero outside the obstacle detection region and obstacle avoidance is guaranteed inside the obstacle detection region. The efficiency and robustness of the proposed control system are verified by simulation results.

• 出版日期2012-11-6
• 单位重庆大学