Open AccessGeneralized Extended State Observer Approach to Robust Tracking Control for Wheeled Mobile Robot with Skidding and Slipping
Author(s) -
Hyo-Seok Kang,
YongTae Kim,
ChangHo Hyun,
Mig Park
Publication year - 2013
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 - 10.5772/55738
Subject(s) - slipping , control theory (sociology) , computer science , mobile robot , lyapunov stability , kinematics , observer (physics) , controller (irrigation) , robust control , lyapunov function , convergence (economics) , robustness (evolution) , stability (learning theory) , tracking (education) , robot , control engineering , control (management) , control system , mathematics , artificial intelligence , nonlinear system , engineering , pedagogy , economic growth , chemistry , biology , psychology , biochemistry , geometry , classical mechanics , quantum mechanics , machine learning , agronomy , physics , electrical engineering , economics , gene
This paper proposes a robust tracking controller based on a Generalized Extended State Observer (GESO) method for a wheeled mobile robot (WMR) with unknown skidding and slipping. Skidding and slipping of a WMR are inevitable in practice. We regard skidding and slipping as disturbances and modify the dynamics model to consider them simply. Then, we adopt the GESO to design a robust tracking controller at kinematic and dynamic level. Using Lyapunov theory, we derive the control law and guarantee the stability of the control system. The proposed control achieves attenuation of the disturbance and convergence of the tracking errors. The performance of the proposed method is verified by some simulation results
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