ISSN 0253-2778

CN 34-1054/N

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Dynamic robust path following control of a wheeled mobile robot with uncertainties

  • 1.

    The Journal Editorial Department of Electronic and Engineering Institue, Hefei 230037, China

  • 2.

    The First Department of Army Officer Academy, Hefei 230031, China

Cite this:
https://doi.org/10.3969/j.issn.0253-2778.2014.04.012
  • Received Date: 05 June 2013
  • Accepted Date: 20 November 2013
  • Rev Recd Date: 20 November 2013
  • Publish Date: 30 April 2014
    Abstract

  • Abstract

    A geometric function of target path was used to model tracking error, turning the path following problem under study into one of output regulation which was solved by backstepping a kinematic-dynamic mixed control law derived from input-output linearization method based on the dynamic model of the system. A Lyapunov-like method was used to derive parameter adaptation laws that ensured the asymptotical tracking of the target path despite the unknown constant parameters. Asymptotical convergence of the robot to the target path was proved and the numerical simulation results show the effectiveness of the control scheme.

    Abstract

    A geometric function of target path was used to model tracking error, turning the path following problem under study into one of output regulation which was solved by backstepping a kinematic-dynamic mixed control law derived from input-output linearization method based on the dynamic model of the system. A Lyapunov-like method was used to derive parameter adaptation laws that ensured the asymptotical tracking of the target path despite the unknown constant parameters. Asymptotical convergence of the robot to the target path was proved and the numerical simulation results show the effectiveness of the control scheme.
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    • References(9)
  • [1]
    Diaz del Río F, Jiménez G, Sevillano J L, et al. A generalization of path following for mobile robots[C]// Proceedings of the International Conference on Robotics and Automation. Detroit, USA: IEEE Press, 1999, 1: 7-12.
    [1]
    Diaz del Río F, Jiménez G, Sevillano J L, et al. A Path following control for unicycle robots[J]. Journal of Robotic System, 2001, 18(7): 325-342.
    [2]
    Lapierre L, Soetanto D, Pascoal A. Nonsingular path following control of a unicycle in the presence of parametric modeling uncertainties[J]. International Journal of Robust and Nonlinear Control, 2006, 16(10): 485-503.
    [3]
    马保离, 霍伟. 移动小车的路径跟踪与镇定[J]. 机器人, 1995, 17(6): 358-362.
    [4]
    马保离. 基于观测器的轮式移动机器人路径跟踪控制[J]. 控制理论与应用, 2007, 24(5): 757-760.
    [5]
    王耀栋,马旭东,戴先中. 非时间参考的移动机器人路径跟踪控制[J]. 机器人, 2004, 26(3): 198-203.
    [6]
    Han Da-peng, Wei Qing, Li Ze-xiang. Path following of mobile robots using a virtual vehicle approach[C]// Proceedings of the 25th Chinese Control Conference. Harbin, China: IEEE Press, 2006:1 533-1 537.
    [7]
    席雷平, 段连飞, 江涛. 非完整四轮式移动机器人反演轨迹跟踪控制[J]. 计算机测量与控制, 2012, 20(8): 2 143-2 145.
    [8]
    Yue Ming, Wang Shuang, Zhang Yong-shun. Adaptive robust motion/force coordinated control of nonholonomic wheeled mobile robot via a double closed-loop strategy[J]. Control Theory & Applications, 2013, 30(7): 801-807.
    岳明,王爽,张永顺.双闭环策略下非完整轮式机器人鲁棒性自适应运动/力协调控制[J].控制理论与应用, 2013, 30(7): 801-807.
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    [1]
    Diaz del Río F, Jiménez G, Sevillano J L, et al. A generalization of path following for mobile robots[C]// Proceedings of the International Conference on Robotics and Automation. Detroit, USA: IEEE Press, 1999, 1: 7-12.
    [1]
    Diaz del Río F, Jiménez G, Sevillano J L, et al. A Path following control for unicycle robots[J]. Journal of Robotic System, 2001, 18(7): 325-342.
    [2]
    Lapierre L, Soetanto D, Pascoal A. Nonsingular path following control of a unicycle in the presence of parametric modeling uncertainties[J]. International Journal of Robust and Nonlinear Control, 2006, 16(10): 485-503.
    [3]
    马保离, 霍伟. 移动小车的路径跟踪与镇定[J]. 机器人, 1995, 17(6): 358-362.
    [4]
    马保离. 基于观测器的轮式移动机器人路径跟踪控制[J]. 控制理论与应用, 2007, 24(5): 757-760.
    [5]
    王耀栋,马旭东,戴先中. 非时间参考的移动机器人路径跟踪控制[J]. 机器人, 2004, 26(3): 198-203.
    [6]
    Han Da-peng, Wei Qing, Li Ze-xiang. Path following of mobile robots using a virtual vehicle approach[C]// Proceedings of the 25th Chinese Control Conference. Harbin, China: IEEE Press, 2006:1 533-1 537.
    [7]
    席雷平, 段连飞, 江涛. 非完整四轮式移动机器人反演轨迹跟踪控制[J]. 计算机测量与控制, 2012, 20(8): 2 143-2 145.
    [8]
    Yue Ming, Wang Shuang, Zhang Yong-shun. Adaptive robust motion/force coordinated control of nonholonomic wheeled mobile robot via a double closed-loop strategy[J]. Control Theory & Applications, 2013, 30(7): 801-807.
    岳明,王爽,张永顺.双闭环策略下非完整轮式机器人鲁棒性自适应运动/力协调控制[J].控制理论与应用, 2013, 30(7): 801-807.
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