Adaptive tracking control of nonholonomic mobile robots considering actuator dynamics: dynamic surface design approach

Authors:
Bong Seok Park;Sung Jin Yoo;Jin Bae Park;Yoon Ho Choi
Affiliations:
Department of Electrical and Electronic Engineering, Yonsei University, Shinchon-Dong, Seodaemum-Gu, Seoul, Korea;Department of Electrical and Electronic Engineering, Yonsei University, Shinchon-Dong, Seodaemum-Gu, Seoul, Korea;Department of Electrical and Electronic Engineering, Yonsei University, Shinchon-Dong, Seodaemum-Gu, Seoul, Korea;School of Electronic Engineering, Kyonggi University, Suwon-Si, Kyonggi-Do, Korea
Venue:
ACC'09 Proceedings of the 2009 conference on American Control Conference
Year:
2009

Citing 6
Cited 0

On the adaptive control of robot manipulators

International Journal of Robotics Research
A course in fuzzy systems and control

A course in fuzzy systems and control
Tracking control of mobile robots: a case study in backstepping

Automatica (Journal of IFAC)
Adaptive Systems with Reduced Models

Adaptive Systems with Reduced Models
Adaptive control for mobile robot using wavelet networks

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Adaptive Dynamic Surface Control of Flexible-Joint Robots Using Self-Recurrent Wavelet Neural Networks

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics

Quantified Score

Hi-index	0.01

Visualization

Abstract

In this paper, we propose an adaptive tracking control of nonholonomic mobile robots considering actuator dynamics. All parameters of robot kinematics, robot dynamics, and actuator dynamics are assumed to be uncertain. For the simple controller design, the dynamic surface control methodology is applied and extended to multi-input multioutput systems (i.e., mobile robots) that the number of inputs and outputs is different. From the Lyapunov stability theory, we derive adaptation laws and prove that all signals of a closed-loop system are semi-globally uniformly ultimately bounded. Finally, we perform compute simulations to demonstrate the performance of the proposed controller.