An adaptive tracking method for non-holonomic wheeled mobile robots

被引：0
|
作者：
Liyong, Yue [1 ]
Wei, Xie [1 ]
机构：
[1] Univ South China Univ Technol, Dept Control Theory & Engn, Guangzhou, Guangdong, Peoples R China
来源：
PROCEEDINGS OF THE 26TH CHINESE CONTROL CONFERENCE, VOL 3 | 2007年
关键词：
mobile robot; adaptive control; backstepping technique; trajectory tracking; non-holonomic constraint;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, an adaptive control rule for trajectory tracking of a wheeled mobile robot is proposed in the case that the un-modeled dynamic in actuator is considered. Usually the adaptive controllers ignored the dynamic in actuator and assumed the wheels torques as the input of the robot system. This method proposed here estimates the parameters in the dynamic model and the actuator model, and using these parameters an adaptive controller is designed based on back stepping method. The adaptive control rule can not only increase the response speed, but also avoid slippage. The simulation results show the effectiveness of the proposals.
引用
收藏
页码：801 / +
页数：3
相关论文
共 50 条
  • [1] Distributed adaptive coordinated tracking for coupled non-holonomic mobile robots
    Qiu, Yilong
    Xiang, Linying
    [J]. IET CONTROL THEORY AND APPLICATIONS, 2014, 8 (18): : 2336 - 2345
  • [2] Hybrid formation control for non-holonomic wheeled mobile robots
    Toibero, Juan Marcos
    Roberti, Flavio
    Fiorini, Paolo
    Carelli, Ricardo
    [J]. RECENT PROGRESS IN ROBOTICS: VIABLE ROBOTIC SERVICE TO HUMAN, 2008, 370 : 21 - +
  • [3] LPV Controller Design for Trajectory Tracking of Non-holonomic Wheeled Mobile Robots in the Presence of Slip
    Sabouri, Mohammad
    Asemani, Mohammad Hassan
    [J]. 2021 29TH IRANIAN CONFERENCE ON ELECTRICAL ENGINEERING (ICEE), 2021, : 715 - 720
  • [4] On the Adaptive Performance Improvement of a Trajectory Tracking Controller for non-Holonomic Mobile Robots
    Arvanitakis, John
    Nikolakopoulos, George
    Zermas, Demetris
    Tzes, Anthony
    [J]. 2011 IEEE 16TH CONFERENCE ON EMERGING TECHNOLOGIES AND FACTORY AUTOMATION (ETFA), 2011,
  • [5] Fuzzy Logic & Fuzzy Sliding Mode Tracking Control of Non-holonomic Unicycle Wheeled Mobile Robots
    Mohagheghi, Afagh
    Shabaninia, Faridoon
    Salimifard, Maryam
    [J]. 2013 21ST IRANIAN CONFERENCE ON ELECTRICAL ENGINEERING (ICEE), 2013,
  • [6] PDC Control Design for Non-holonomic Wheeled Mobile Robots with Delayed Outputs
    Guechi, El-Hadi
    Lauber, Jimmy
    Dambrine, Michel
    Klancar, Gregor
    Blazic, Saso
    [J]. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2010, 60 (3-4) : 395 - 414
  • [7] Adaptive controller for non-holonomic mobile robots with matched uncertainties
    Tayebi, A
    Rachid, A
    [J]. ADVANCED ROBOTICS, 2000, 14 (02) : 105 - 118
  • [8] PDC Control Design for Non-holonomic Wheeled Mobile Robots with Delayed Outputs
    El-Hadi Guechi
    Jimmy Lauber
    Michel Dambrine
    Gregor Klančar
    Saso Blažič
    [J]. Journal of Intelligent & Robotic Systems, 2010, 60 : 395 - 414
  • [9] Robust trajectory tracking control of non-holonomic wheeled mobile robots using an adaptive fractional order parallel fuzzy PID controller
    Singhal, Kartik
    Kumar, Vineet
    Rana, K. P. S.
    [J]. JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2022, 359 (09): : 4160 - 4215
  • [10] Output feedback tracking control of uncertain non-holonomic wheeled mobile robots: a dynamic surface control approach
    Shojaei, K.
    Shahri, A. M.
    [J]. IET CONTROL THEORY AND APPLICATIONS, 2012, 6 (02): : 216 - 228
12345