Robust adaptive tracking control of wheeled mobile robot

被引：77
|
作者：
Xin, Linjie [1 ]
Wang, Qinglin [1 ]
She, Jinhua [2 ]
Li, Yuan [1 ]
机构：
[1] Beijing Inst Technol, Sch Automat, Zhongguancun St, Beijing 100081, Peoples R China
[2] Tokyo Univ Technol, Sch Engn, 1404-1 Katakura, Hachioji, Tokyo 1920982, Japan
来源：
ROBOTICS AND AUTONOMOUS SYSTEMS | 2016年 / 78卷
基金：
中国国家自然科学基金;
关键词：
Finite-time control; Disturbance observer; Robust control; Wheeled mobile robot; SLIDING MODE CONTROL; TRAJECTORY-TRACKING; DESIGN; ALGORITHM;
D O I：
10.1016/j.robot.2016.01.002
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 considers the problem of robust adaptive trajectory tracking control for a wheeled mobile robot (WMR). First, the trajectory tracking of the WMR is converted to a problem of the stabilization of a double integral system. Next, a continuous finite-time control method is employed to design a tracking controller. Then, a disturbance observer and an adaptive compensator are designed to cooperate with the tracking controller for dealing with system uncertainties of the WMR. Finally, a switching adaptive law is presented in combination with the boundary layer approach to attenuate the chattering in the adaptive compensator. As a result, the control system yields the ultimate boundedness of both the tracking error and the adaptive gain. Simulation results demonstrate the validity of the new method. (C) 2016 Elsevier B.V. All rights reserved.
引用
收藏
页码：36 / 48
页数：13
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