Adaptive Observer-based Trajectory Tracking Control of Nonholonomic Mobile Robots

作者：Park Bong Seok; Park Jin Bae^*; Choi Yoon Ho

来源：International Journal of Control Automation and Systems, 2011, 9(3): 534-541.

DOI：10.1007/s12555-011-0313-1

• Adaptive observer
• backstepping
• nonholonomic mobile robots
• robot dynamics
• robot kinematics

In this paper, an adaptive observer-based trajectory tracking problem is solved for nonholonomic mobile robots with uncertainties. An adaptive observer is first developed to estimate the unmeasured velocities of a mobile robot with model uncertainties. Using the designed observer and the backstepping technique, a trajectory tracking controller is designed to generate the torque as an input. Using Lyapunov stability analysis, we prove that the closed-loop system is asymptotically stable with respect to the estimation errors and tracking errors. Finally, the simulation results are presented to validate the performance and robustness of the proposed control system against uncertainties.

• 出版日期2011-6