Control and simulation of adaptive global trajectory tracking for nonholonomic mobile robots with parameter uncertainties

Author

Jia, Peigang ; Song, Cheng ; Zhang, Xin

Author_Institution

Sch. of Mechatron., Xi´´an Technol. Univ., Xi´´an, China

Volume

1

fYear

2012

Firstpage

314

Lastpage

317

Abstract

This paper addresses the problem of trajectory tracking control for the nonholonomic mobile robot with two actuated wheels. By applying adaptive control technique, an adaptive trajectory tracking controller with globally asymptotic stability is proposed for a kinematic model with unknown parameters. The global stability of the system is easily proven via the Lyapunov function and Barbalat´s lemma. The simulation results are provided to illustrate the effectiveness and correctness of the controller.

Keywords

Lyapunov methods; adaptive control; mobile robots; stability; wheels; Barbalat lemma; Lyapunov function; actuated wheels; adaptive global trajectory tracking control; globally asymptotic stability; kinematic model; nonholonomic mobile robots; parameter uncertainties; Adaptive control; Angular velocity; Asymptotic stability; Kinematics; Mobile robots; Trajectory; Wheels; adaptive control; global asymptotically stability; kinematic model; nonholonomic mobile robot; trajectory tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Instrumentation & Measurement, Sensor Network and Automation (IMSNA), 2012 International Symposium on

Conference_Location

Sanya

Print_ISBN

978-1-4673-2465-6

Type

conf

DOI

10.1109/MSNA.2012.6324576

Filename

6324576