Regular Papers

International Journal of Control, Automation and Systems 2012; 10(4): 703-710

Published online August 14, 2012

https://doi.org/10.1007/s12555-012-0405-6

© The International Journal of Control, Automation, and Systems

Approximation-Based Adaptive Control for a Class of Mobile Robots with Unknown Skidding and Slipping

Sung Jin Yoo

Chung-Ang University

Abstract

An adaptive tracking control approach using function approximation technique is proposed for trajectory tracking of Type (2,0) wheeled mobile robots with unknown skidding and slipping in polar coordinates and at the dynamic level. The nonlinear disturbance observer (NDO) is used to estimate a nonlinear disturbance term including unknown skidding and slipping. The adaptive control system is designed via the function approximation technique using neural networks employed to compensate the NDO error. It is proved that all signals of the controlled closed-loop system are uniformly bounded and the point tracking errors converge to an adjustable neighborhood of the origin regardless of large initial tracking errors and unknown skidding and slipping. Simulation results are presented to validate the good tracking performance and robustness of the proposed control system against unknown skidding and slipping.

Keywords Adaptive control, dynamics, function approximation technique, mobile robots, nonlinear disturbance observer (NDO), polar coordinates, skidding and slipping.

Article

Regular Papers

International Journal of Control, Automation and Systems 2012; 10(4): 703-710

Published online August 1, 2012 https://doi.org/10.1007/s12555-012-0405-6

Copyright © The International Journal of Control, Automation, and Systems.

Approximation-Based Adaptive Control for a Class of Mobile Robots with Unknown Skidding and Slipping

Sung Jin Yoo

Chung-Ang University

Abstract

An adaptive tracking control approach using function approximation technique is proposed for trajectory tracking of Type (2,0) wheeled mobile robots with unknown skidding and slipping in polar coordinates and at the dynamic level. The nonlinear disturbance observer (NDO) is used to estimate a nonlinear disturbance term including unknown skidding and slipping. The adaptive control system is designed via the function approximation technique using neural networks employed to compensate the NDO error. It is proved that all signals of the controlled closed-loop system are uniformly bounded and the point tracking errors converge to an adjustable neighborhood of the origin regardless of large initial tracking errors and unknown skidding and slipping. Simulation results are presented to validate the good tracking performance and robustness of the proposed control system against unknown skidding and slipping.

Keywords: Adaptive control, dynamics, function approximation technique, mobile robots, nonlinear disturbance observer (NDO), polar coordinates, skidding and slipping.

IJCAS
June 2024

Vol. 22, No. 6, pp. 1761~2054

Stats or Metrics

Share this article on

  • line

Related articles in IJCAS

IJCAS

eISSN 2005-4092
pISSN 1598-6446