Adaptive tracking control of wheeled mobile robots with unknown longitudinal and lateral slipping parameters

被引：0
|
作者：
Mingyue Cui
Rongjie Huang
Hongzhao Liu
Xuyan Liu
Dihua Sun
机构：
[1] Nanyang Normal University,College of Physical and Electronic Engineering
[2] Chongqing University,College of Automation
来源：
Nonlinear Dynamics | 2014年 / 78卷
关键词：
Wheeled mobile robot (WMR); Adaptive tracking control; Unknown longitudinal and lateral slip parameters; Sliding mode observer;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
An adaptive control approach is proposed for trajectory tracking of wheeled mobile robot (WMR) with unknown longitudinal and lateral slipping. A kinematic model of tracked WMR is established in this paper, in which both longitudinal and lateral slipping are considered and processed as three time-varying parameters. Sliding mode observer is then introduced to real time estimate the slip parameters online. A stable tracking control law for this robot system is proposed by backstepping method, and the asymptotic stability is guaranteed by Lyapunov theory. Meanwhile, the controller gains are determined online by poles placement method. Simulation results show the effectiveness and robustness of the proposed method.
引用
收藏
页码：1811 / 1826
页数：15
相关论文
共 50 条
  • [1] Adaptive tracking control of wheeled mobile robots with unknown longitudinal and lateral slipping parameters
    Cui, Mingyue
    Huang, Rongjie
    Liu, Hongzhao
    Liu, Xuyan
    Sun, Dihua
    [J]. NONLINEAR DYNAMICS, 2014, 78 (03) : 1811 - 1826
  • [2] Observer-Based Adaptive Tracking Control of Wheeled Mobile Robots With Unknown Slipping Parameters
    Cui, Mingyue
    [J]. IEEE ACCESS, 2019, 7 : 169646 - 169655
  • [3] Adaptive tracking control for a class of wheeled mobile robots with unknown skidding and slipping
    Yoo, S. J.
    [J]. IET CONTROL THEORY AND APPLICATIONS, 2010, 4 (10): : 2109 - 2119
  • [4] Adaptive Tracking Control for Wheeled Mobile Robots with Unknown Skidding
    Li, Xiang
    Wang, Zhuping
    Zhu, Jin
    Chen, Qijun
    [J]. 2015 IEEE CONFERENCE ON CONTROL AND APPLICATIONS (CCA 2015), 2015, : 1674 - 1679
  • [5] Adaptive and sliding mode tracking control for wheeled mobile robots with unknown visual parameters
    Yang, Fang
    Su, Hongye
    Wang, Chaoli
    Li, Zhenxing
    [J]. TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2018, 40 (01) : 269 - 278
  • [6] Adaptive Neural Network H∞ Tracking Control of Wheeled Mobile Robots with Unknown Slipping Based on Transverse Function Approach
    Ye Jinhua
    Li Di
    Ye Feng
    [J]. 2013 FIFTH INTERNATIONAL CONFERENCE ON MEASURING TECHNOLOGY AND MECHATRONICS AUTOMATION (ICMTMA 2013), 2013, : 147 - 151
  • [7] Adaptive Tracking Control of Wheeled Mobile Robots
    Zuo, Min
    Zeng, Guangping
    Tu, Xuyan
    [J]. RECENT TRENDS IN MATERIALS AND MECHANICAL ENGINEERING MATERIALS, MECHATRONICS AND AUTOMATION, PTS 1-3, 2011, 55-57 : 1195 - +
  • [8] Tracking control of wheeled mobile robots with unknown dynamics
    Dong, WJ
    Huo, W
    [J]. ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS, 1999, : 2645 - 2650
  • [9] Adaptive unified controller of arbitrary trajectory tracking for wheeled mobile robots with unknown parameters
    Pang, Hai-Long
    Ma, Bao-Li
    [J]. Kongzhi Lilun Yu Yingyong/Control Theory and Applications, 2014, 31 (03): : 285 - 292
  • [10] An Adaptive Unscented Kalman Filter-based Controller for Simultaneous Obstacle Avoidance and Tracking of Wheeled Mobile Robots with Unknown Slipping Parameters
    Cui, Mingyue
    Liu, Hongzhao
    Liu, Wei
    Qin, Yi
    [J]. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2018, 92 (3-4) : 489 - 504
12345