Tracking control for mobile robots with uncertain parameters based on Model Reference Adaptive Control

Author

Tien-Ngo Manh ; Minh-Phan Xuan ; Phuoc-Nguyen Doan ; Thang-Phan Quoc

Author_Institution

Inst. of Phys., Hanoi, Vietnam

fYear

2013

fDate

25-28 Nov. 2013

Firstpage

18

Lastpage

23

Abstract

The paper presents a Model Reference Adaptive Control algorithm for mobile robots with parameter uncertainties and unstructured dynamics to guarantee that a robot can track to desired trajectory asymptotically and avoid jerky. The controller has been designed in two consecutive parts; one is a nonlinear kinematic controller and the other is the model reference adaptive controller using the feedback signal from the mobile robot´s actuator. The simulation results show the efficiency and the application ability of the proposed controller.

Keywords

actuators; control system synthesis; feedback; mobile robots; model reference adaptive control systems; nonlinear control systems; robot dynamics; robot kinematics; trajectory control; controller design; feedback signal; mobile robot actuator; mobile robots; model reference adaptive control algorithm; nonlinear kinematic controller; robot trajectory tracking; tracking control; uncertain parameters; unstructured dynamics; Adaptation models; Angular velocity; Equations; Kinematics; Mathematical model; Mobile robots; Adaptive Control; Mobile Robot; Model Reference Adaptive Control; Non-holonomic; Nonlinear Control; Tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Information Sciences (ICCAIS), 2013 International Conference on

Conference_Location

Nha Trang

Print_ISBN

978-1-4799-0569-0

Type

conf

DOI

10.1109/ICCAIS.2013.6720523

Filename

6720523