Title :
A Novel Path Following Controller for an Uncertain Wheeled Mobile Robot
Author :
Le Qi ; Ma, Baoli ; Li, Wei
Author_Institution :
Foreign Training Dept., First Aeronaut. Eng. Inst. of Chinese Air Force, Xinyang, China
Abstract :
Feedback linearization approach and Lyapunov tool are used to construct an adaptive control law achieving asymptotical tracking of the desired geometric path in the presence of parameter uncertainties. Backstepping technique is used to obtain the control effort in the torque level. The advantage of the control scheme lies in that it removes the restrictions of the desired longitudinal velocity of the wheeled mobile robot being always positive or negative. Simulation results show the effectiveness of the proposed control scheme.
Keywords :
Lyapunov methods; adaptive control; feedback; linearisation techniques; mobile robots; path planning; uncertain systems; Lyapunov tool; adaptive control; asymptotic tracking; backstepping technique; feedback linearization approach; longitudinal velocity; parameter uncertainty; path following controller; uncertain wheeled mobile robot; Mobile robots; Simulation; Torque; Trajectory; Uncertain systems; Wheels; adaptive; backstepping; parameter uncertainty; path following; wheeled mobile robot;
Conference_Titel :
Electrical and Control Engineering (ICECE), 2010 International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-6880-5
DOI :
10.1109/iCECE.2010.57
