Simplified derivation of control law providing for a vehicle’s motion on a nonlinear path

Dovgobrod, G. M.; Klyachko, L. M.

doi:10.1134/s2075108712010038

Cited by 4 publications

(1 citation statement)

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“…Motivated by these considerations, the goal of this paper is to put emphasis on using adaptive controllers to achieve the trajectory tracking for a WMR with a three-link manipulator in the presence of modeling uncertainty. An adaptive fuzzy controller with backstepping approach [2,14] is designed to deal with the trajectory tracking of WMR. To track the trajectory accurately, a fuzzy compensator [15,16] is added to counteract the modeling certainty such as friction and external disturbance, and a robust term is introduced to reduce the approximation error and ensure the system stability.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Tracking of Wheeled Mobile Robot with a Manipulator Considering Dynamic Interaction and Modeling Uncertainty

Zhong¹,

Kobayashi²,

Emaru³

et al. 2012

Intelligent Robotics and Applications

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Abstract. This paper proposes an adaptive control strategy for trajectory tracking of a Wheeled Mobile Robot (WMR) which consists of a suspended platform and a manipulator. When the WMR moves in the presence of friction and external disturbance, the trajectory can hardly be tracked accurately by applying the backstepping approach. For addressing this problem, considering the dynamic interaction, a dynamic model of the system is constructed by using Direct Path Method (DPM). An adaptive fuzzy control combined with backstepping approach based on the dynamic model is proposed. To track the trajectory accurately, a fuzzy compensator is proposed to compensate modeling uncertainty such as friction and external disturbance. Moreover, to reduce the approximation error and ensure the system stability, a robust term is added to the adaptive control law. Simulation results show the effectiveness and merits of the proposed control strategy in the counteraction of modeling uncertainty and the trajectory tracking.

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Section: Introductionmentioning

confidence: 99%