ADAPTIVE ROBUST CONTROL OF NONHOLONOMIC WHEELED MOBILE ROBOTS

Tai-Yu Wang, Ching-Chih Tsai
2005 IFAC Proceedings Volumes  
This paper develops methodologies for an adaptive robust path tracking control of a nonholonomic Wheeled Mobile Robot (WMR) with nonlinear driving characteristics and unknown dynamic parameters. To solve the problem of position/orientation tracking control of WMR, a novel robust kinematics control law is developed to steer the vehicle to asymptotically follow the desired trajectories. To compensate for dynamic effects associated with the dynamic models, an adaptive backstepping path tracking
more » ... trol law with robustness is designed to ensure asymptotic path tracking for the vehicle with unknown dynamic parameters and changeable time-varying payload. Simulation results are included to illustrate feasibility and effectiveness of the proposed control laws.
doi:10.3182/20050703-6-cz-1902.01349 fatcat:yan4dw5wtnbctpbx4hvhkevhtq