Robust adaptive tracking control of wheeled mobile robot

Linjie Xin, Qinglin Wang, Jinhua She, Yuan Li*

*Corresponding author for this work

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Abstract

This paper considers the problem of robust adaptive trajectory tracking control for a wheeled mobile robot (WMR). First, the trajectory tracking of the WMR is converted to a problem of the stabilization of a double integral system. Next, a continuous finite-time control method is employed to design a tracking controller. Then, a disturbance observer and an adaptive compensator are designed to cooperate with the tracking controller for dealing with system uncertainties of the WMR. Finally, a switching adaptive law is presented in combination with the boundary layer approach to attenuate the chattering in the adaptive compensator. As a result, the control system yields the ultimate boundedness of both the tracking error and the adaptive gain. Simulation results demonstrate the validity of the new method.

Original languageEnglish
Pages (from-to)36-48
Number of pages13
JournalRobotics and Autonomous Systems
Volume78
DOIs
Publication statusPublished - 1 Apr 2016

Keywords

  • Disturbance observer
  • Finite-time control
  • Robust control
  • Wheeled mobile robot

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Xin, L., Wang, Q., She, J., & Li, Y. (2016). Robust adaptive tracking control of wheeled mobile robot. Robotics and Autonomous Systems, 78, 36-48. https://doi.org/10.1016/j.robot.2016.01.002