Adaptive Tracking Control of an Uncertain Nonholonomic Robot

• 作者: Chaoli Wang Nan Hu
• 来源期刊: 智能控制与自动化(英文)
• 学科: 数学
• 关键词: NONHOLONOMIC Systems WHEELED Mobile ROBOT Adaptive CONTROL TRACKING CONTROL
• 年，卷（期）: 2011,（4）
• 页码范围: 396-404
• 页数: 9页
• 分类号: O1

摘要

In this paper, a new controller is proposed by using backstepping method for the trajectory tracking problem of nonholonomic dynamic mobile robots with nonholonomic constraints under the condition that there is a distance between the mass center and the geometrical center and the distance is unknown. And an adaptive feedback controller is also proposed for the case that some kinematic parameters and dynamic parameters are uncertain. The asymptotical stability of the control system is proved with Lyapunov stability theory. The simulation results show the effectiveness of the proposed controller. The comparison with the previous methods is made to show the effectiveness of the method in this article.