Adaptive trajectory tracking control of wheeled mobile robots with disturbance observer

Abstract

In this paper, the trajectory tracking problem for a wheeled mobile robot in the presence of kinematic and dynamic uncertainties has been addressed. Uncertainties are modeled as lumped disturbances. A kinematic controller based on feedback linearization approach and a dynamic controller based on model reference adaptive control are designed in the presence of disturbances. In order to ensure both robustness and implementability of the controllers, the disturbances are estimated by a generalized linear matrix inequality-based disturbance observer. Simulation results show the effectiveness of the proposed method.

Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation

“…After carrying out the review of the literature associated with design of controllers for the trajectory tracking task in differential drive WMRs, it was found that, generally, this task has been solved in three directions: (a) by only using the kinematic or dynamic model of the mechanical structure , (b) by employing the kinematic/dynamic model of the mechanical structure along with the dynamics of the actuators [85][86][87][88][89][90][91][92][93][94][95][96][97][98][99][100][101][102][103], and (c) by considering the kinematic model of the mechanical structure along with the dynamics of the actuators and power stage [104,105]. In the last direction, contributions that have carried out interesting efforts are [106][107][108][109][110][111][112][113][114].…”

“…More recently, Luo et al [93] elaborated an adaptive neural network dynamic surface controller based on a disturbance observer, where uncertain parameters were taken into account. Lastly, other contributions that take into account the dynamic model of the mechanical structure and the dynamics of the actuators in the control design are reported in [94][95][96][97][98][99][100][101][102][103].…”

Fuzzy Adaptation Algorithms’ Control for Robot Manipulators with Uncertainty Modelling Errors

“…According to [38], (13) implies that the extended state vector = ( , ,̂,̂) can reach the sliding surface = 0 in a limited period of times.…”

“…A novel shared control system with task motion and self-motion is to achieve accurate object manipulation for Baxter robot manipulator by users mind in [12]. In order to ensure robustness and realization capability of the controllers, disturbance observer is designed by using linear matrix inequality (LMI) in [13].…”

Backstepping Approach for Autonomous Mobile Robot Trajectory Tracking

“…An adaptive trajectory-tracking controller based on the robot dynamics is proposed with experimental results in [17], and its stability is proved using the Lyapunov stability theorem, The dynamic controller is capable of updating the estimated parameters, which are directly related to physical parameters of the robot. In order to overcome trajectory tracking problems, in [20] an adaptive nonlinear control of a wheeled mobile…”