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Adaptive trajectory tracking control of wheeled mobile robots with disturbance observer
Author(s) -
TaheriKalani J.,
Khosrowjerdi M.J.
Publication year - 2014
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.2382
Subject(s) - control theory (sociology) , kinematics , mobile robot , robustness (evolution) , trajectory , linearization , control engineering , computer science , feedback linearization , controller (irrigation) , robot , engineering , nonlinear system , control (management) , artificial intelligence , gene , agronomy , biochemistry , chemistry , physics , classical mechanics , astronomy , quantum mechanics , biology
SUMMARY In this paper, the trajectory tracking problem for a wheeled mobile robot in the presence of kinematic and dynamic uncertainties has been addressed. Uncertainties are modeled as lumped disturbances. A kinematic controller based on feedback linearization approach and a dynamic controller based on model reference adaptive control are designed in the presence of disturbances. In order to ensure both robustness and implementability of the controllers, the disturbances are estimated by a generalized linear matrix inequality‐based disturbance observer. Simulation results show the effectiveness of the proposed method. Copyright © 2013 John Wiley & Sons, Ltd.