Adaptive Robust Control of Nonholonomic Wheeled Mobile Robots
| Authors: | Wang Tai-Yu, Nan-Kai Institute of Technology, Taiwan
Tsai Ching-Chih, National Chung-Hsing University, Taiwan |
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| Topic: | 4.3 Robotics |
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| Session: | Guidance, Navigation, and Control of Robots |
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| Keywords: | Adaptive control, robust control, mobile robot, nonlinear characteristics, path tracking |
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Abstract
This paper develops methodologies for adaptive robust path tracking control of a nonholonomic Wheeled Mobile Robot (WMR) with nonlinear driving characteristics and unknown dynamic parameters. To solve the problem of position/orientation tracking control of WMR, a novel robust kinematics control law is developed to steer the vehicle to asymptotically follow the desired trajectories. To compensate for dynamic effects associated with the dynamic models, an adaptive backstepping path tracking control law with robustness is designed to ensure asymptotic path tracking for the vehicle with unknown dynamic parameters and changeable time-varying payload. Simulation results are included to illustrate feasibility and effectiveness of the proposed control laws.
