Adaptive tracking control of a nonholonomic mobile robot

被引：554
|
作者：
Fukao, T [1 ]
Nakagawa, H
Adachi, N
机构：
[1] Kyoto Univ, Grad Sch Informat, Dept Syst Sci, Kyoto 6068501, Japan
[2] Sumitomo Elect Ind Ltd, Osaka 5540024, Japan
来源：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2000年 / 16卷 / 05期
关键词：
adaptive backstepping; adaptive tracking control; dynamic model; nonholonomic mobile robot;
D O I：
10.1109/70.880812
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A mobile robot is one of the well-known nonholonomic systems. The integration of a kinematic controller and a torque controller for the dynamic model of a nonholonomic mobile robot has been presented. In this paper, an adaptive extension of the controller is proposed. If an adaptive tracking controller for the kinematic model with unknown parameters exists, an adaptive tracking controller for the dynamic model with unknown parameters can be designed by using an adaptive backstepping approach. A design example for a mobile robot with two actuated wheels is provided. In this design, a new kinematic adaptive controller is proposed, then a torque adaptive controller is derived by using the kinematic controller.
引用
收藏
页码：609 / 615
页数：7
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