Adaptive feedback linearizing control of nonholonomic wheeled mobile robots in presence of parametric and nonparametric uncertainties

Shojaei, Khoshnam; Shahri, Alireza Mohammad; Tarakameh, Ahmadreza

doi:10.1016/j.rcim.2010.07.007

Cited by 76 publications

(44 citation statements)

References 16 publications

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“…Therefore, the need for knowing the robot dynamics is relaxed through the use of the control action (30). In order to guarantee a globally stable performance for the suggested proposed control strategy, (24) is used as a parameter update law forb i in (31). h i andŵ i are updated according to the following laws:…”

Section: Resultsmentioning

confidence: 99%

“…5, is smooth with a reduced chattering. Such a smoothness is resulted from relying on the modified filtered error s ei in deriving the strategy along with the use of the satð:Þ function in the bounding term s bi described by (31).…”

Section: Resultsmentioning

confidence: 99%

“…There are other sources of uncertainties that are not related to the parameters of the robot dynamics and called nonparametric uncertainties [29] and caused from approximating higher frequency dynamics. Furthermore, both parametric and nonparametric uncertainties can act simultaneously on a robot dynamics resulting in a more sophisticated situation [30,31]. These uncertainties in the dynamics would add more challenges to the control of robots.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive sliding mode fuzzy control for unknown robots with arbitrarily-switched constraints

2015

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Section: Resultsmentioning

confidence: 99%

Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Adaptive sliding mode fuzzy control for unknown robots with arbitrarily-switched constraints

2015

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“…11 The main drawback of these control strategies is that they ignore the dynamics of the wheeled mobile robots in the design of controllers, which are inefficient for high-speed, massive wheeled mobile robots. 12 The design of adaptive controllers for non-holonomic systems with dynamics uncertainty is studied in ref. [13], and trajectory tracking controllers of uncertain dynamics non-holonomic systems by using a backstepping approach are presented in refs.…”

Section: Introductionmentioning

confidence: 99%

Robust output feedback control for the trajectory tracking of robotic wheelchairs

et al. 2014

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This paper addresses the trajectory tracking control problem of robotic wheelchairs in the presence of modeling uncertainties. The controller has been designed using position and angular measurements. A global ultra-model, or simplified model achieved from flatness considerations is proposed first. This model highly reduces the design complexity of the state estimation and the output feedback control tasks since it groups, as an unknown time-varying disturbance, both the combined effects of all uncertain state-dependent (i.e., endogenous) nonlinearities and those of external (i.e., exogenous) perturbation inputs which are present in the input-to-flat output model of the system. An extended linear high-gain observer, or Generalized Proportional Integral (GPI) observer, is then developed for the simultaneous, though approximate, state and disturbance estimation. The proposed feedback controller combines the global ultra-model and the GPI observers to conform an active disturbance rejection, or disturbance accommodation, control scheme. The simulation results presented in the paper show that the proposed method has a very good tracking performance and robustness in the presence of system uncertainties, external disturbances and noisy corruptions.

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“…Controllers based on a full dynamic model [1,2,[8][9][10] capture better behaviour because they account for dynamic effects such as mass, friction and inertia, which are neglected by kinematic controllers. Optimization algorithms, such as genetic algorithms (GAs), Ant Colony Optimization (ACO) and Particle Swarm Optimization (PSO), have been used to find the optimal intelligent controller for WMR [11][12][13][14][15].…”

Section: Introductionmentioning

confidence: 99%

Near-Optimal Tracking Control of a Nonholonomic Mobile Robot with Uncertainties

Wang

2012

International Journal of Advanced Robotic Systems

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A combined kinematic/torque control law is developed by using a backstepping design approach for a nonholonomic mobile robot with two driving wheels mounted on the same axis to track a reference trajectory. The auxiliary velocity control inputs are designed for the kinematic steering system to make the posture error asymptotically stable. Next, a computed-torque controller is designed such that the mobile robot's velocities converge on the given velocity inputs in an optimal manner by converting the tracking control problem into the regulation problem whereby the uncertainties in the dynamics of mobile robots are considered. The proposed online and forward-in-time policy iteration (PI) algorithm based on approximate dynamic programming (ADP) is used to solve the optimal control problem with unknown internal dynamics by using single neural networks (NNs) to approximate the cost function. Afterwards, the nearoptimal control policy can be computed directly according to the cost function, which removes the action network appearing in the ordinary ADP method. The stability of the dynamical extension system is demonstrated using Lyapunov methods. The simulation results are provided to demonstrate the effectiveness of the proposed approach.

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Adaptive feedback linearizing control of nonholonomic wheeled mobile robots in presence of parametric and nonparametric uncertainties

Cited by 76 publications

References 16 publications

Adaptive sliding mode fuzzy control for unknown robots with arbitrarily-switched constraints

Adaptive sliding mode fuzzy control for unknown robots with arbitrarily-switched constraints

Robust output feedback control for the trajectory tracking of robotic wheelchairs

Near-Optimal Tracking Control of a Nonholonomic Mobile Robot with Uncertainties

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