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A new adaptive tracking control scheme of wheeled mobile robot without longitudinal velocity measurement
Author(s) -
Shu Panfeng,
Oya Masahiro,
Zhao Junjie
Publication year - 2017
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3985
Subject(s) - control theory (sociology) , controller (irrigation) , trajectory , kinematics , tracking (education) , mobile robot , adaptive control , computer science , lyapunov function , control engineering , tracking error , robot , engineering , control (management) , artificial intelligence , nonlinear system , classical mechanics , astronomy , quantum mechanics , agronomy , psychology , pedagogy , physics , biology
Summary This paper proposes a new adaptive trajectory tracking control scheme of the wheeled mobile robot without longitudinal velocity measurement. First, based on a kinematic controller, we obtain a new tracking error equation, which is suitable to develop an adaptive controller. Then, we develop a new adaptive trajectory tracking controller, which does not need any accurate values of the wheeled mobile robot parameters, including the driving motor parameters. Moreover, as the longitudinal velocity measurement is still difficult, this controller is developed without longitudinal velocity measurement. In addition, this new adaptive controller introduces a method to improve the control performance. The stability of the closed‐loop system is presented using the direct Lyapunov method. Finally, numerous simulations verify the effectiveness of the new controller.