Adaptive tracking control of a nonholonomic mobile robot

Author

Fukao, Takanori ; Nakagawa, Hiroshi ; Adachi, Norihiko

Author_Institution

Dept. of Syst. Sci., Kyoto Univ., Japan

Volume

16

Issue

5

fYear

2000

fDate

10/1/2000 12:00:00 AM

Firstpage

609

Lastpage

615

Abstract

A mobile robot is one of the well-known nonholonomic systems. The integration of a kinematic controller and a torque controller for the dynamic model of a nonholonomic mobile robot has been presented (Fierro and Lewis, 1995). In this paper, an adaptive extension of the controller is proposed. If an adaptive tracking controller for the kinematic model with unknown parameters exists, an adaptive tracking controller for the dynamic model with unknown parameters can be designed by using an adaptive backstepping approach. A design example for a mobile robot with two actuated wheels is provided. In this design, a new kinematic adaptive controller is proposed, then a torque adaptive controller is derived by using the kinematic controller

Keywords

adaptive control; mobile robots; position control; robot dynamics; robot kinematics; torque control; actuated wheels; adaptive backstepping approach; adaptive tracking control; dynamic model; kinematic adaptive controller; nonholonomic mobile robot; torque adaptive controller; Adaptive control; Backstepping; Intelligent robots; Kinematics; Mobile robots; Programmable control; Symmetric matrices; Torque control; Velocity control; Wheels;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.880812

Filename

880812