Open AccessAdaptive Tracking and Obstacle Avoidance Control for Mobile Robots with Unknown Sliding
Author(s) -
Mingyue Cui,
Dihua Sun,
Weining Liu,
Min Zhao,
Xiaoyong Liao
Publication year - 2012
Publication title -
international journal of advanced robotic systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.394
H-Index - 46
eISSN - 1729-8814
pISSN - 1729-8806
DOI - 10.5772/52077
Subject(s) - control theory (sociology) , computer science , robustness (evolution) , kinematics , obstacle avoidance , mobile robot , lyapunov function , trajectory , lyapunov stability , nonholonomic system , obstacle , tracking (education) , observer (physics) , robot , artificial intelligence , control (management) , nonlinear system , law , psychology , pedagogy , biochemistry , chemistry , physics , classical mechanics , quantum mechanics , astronomy , political science , gene
An adaptive control approach is proposed for trajectory tracking and obstacle avoidance for mobile robots with consideration given to unknown sliding. A kinematic model of mobile robots is established in this paper, in which both longitudinal and lateral sliding are considered and processed as three time‐varying parameters. A sliding model observer is introduced to estimate the sliding parameters online. A stable tracking control law for this nonholonomic system is proposed to compensate the unknown sliding effect. From Lyapunov‐stability analysis, it is proved, regardless of unknown sliding, that tracking errors of the controlled closed‐loop system are asymptotically stable, the tracking errors converge to zero outside the obstacle detection region and obstacle avoidance is guaranteed inside the obstacle detection region. The efficiency and robustness of the proposed control system are verified by simulation results
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