Adaptive output feedback tracking control of a nonholonomic mobile robot

作者：Huang Jiangshuai; Wen Changyun; Wang Wei^*; Jiang Zhong Ping

来源：Automatica, 2014, 50(3): 821-831.

DOI：10.1016/j.automatica.2013.12.036

• Adaptive output feedback
• Nonholonomic mobile robots
• High-gain observer

An adaptive output feedback tracking controller for nonholonomic mobile robots is proposed to guarantee that the tracking errors are confined to an arbitrarily small ball. The major difficulties are caused by simultaneous existence of nonholonomic constraints, unknown system parameters and a quadratic term of unmeasurable states in the mobile robot dynamic system as well as their couplings. To overcome these difficulties, we propose a new adaptive control scheme including designing a new adaptive state feedback controller and two high-gain observers to estimate the unknown linear and angular velocities respectively. It is shown that the closed loop adaptive system is stable and the tracking errors are guaranteed to be within the pre-specified bounds which can be arbitrarily small. Simulation results also verify the effectiveness of the proposed scheme.

• 出版日期2014-3
• 单位清华大学