Adaptive dynamic tracking control of uncertain wheeled mobile robot including actuator dynamics

被引：0
|
作者：
Koubaa, Yasmine [1 ]
Boukattaya, Mohamed [1 ]
Dammak, Tarak [1 ]
机构：
[1] Natl Sch Engn Sfax ENIS, STA Lab, Sfax, Tunisia
来源：
2016 17TH INTERNATIONAL CONFERENCE ON SCIENCES AND TECHNIQUES OF AUTOMATIC CONTROL AND COMPUTER ENGINEERING (STA'2016) | 2016年
关键词：
Wheeled mobile robot; kinematic model; dynamic model; nonholonomic constraints; actuators dynamic; trajectory tracking; kinematic controller; adaptive control; Lyapunov method; TRAJECTORY-TRACKING;
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：
This paper illustrates trajectory tracking control of nonholonomic system, which is mobile robot (MR). In order to resolve the tracking issue, kinematic and adaptive dynamic controllers are presented. The wheel actuator dynamics (DC motor) is taken into account. Therefore, the control inputs are the actuator input voltages. The developed control law is able to cope with unknown dynamics. The convergence of the tracking errors to zero and the stability of the system are shown by the Lyapunov stability method. Computer simulations are included to show the robustness of the developed controller.
引用
收藏
页码：374 / 379
页数：6
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