© The Institution of Engineering and Technology
A backstepping-based tracking control design for uncertain mobile robot systems with non-holonomic constraints is presented. For avoiding the singularity and the necessity of the repeated differentiation of the virtual controller, high-degree polynomials of the affine functions are generally included in many existing kinematic controllers. That unfortunately would cause the possible blowup of the actuators for high-order kinematic systems (e.g. a trailer-type mobile robot) in high-speed motions. Regarding this, an exponentially modulated linear stabilising function is included in this design to alleviate such a difficulty. Next at the dynamic design level, an adaptive control algorithm is developed for attaining the global asymptotic tracking stability of the overall closed-loop system. Two case studies of a unicycle-like and a trailer-type wheeled mobile robots are conducted in the final to demonstrate the effectiveness of the proposed design.
References
-
-
1)
-
J.T. Huang
.
Parameter convergence of adaptive input-output linearizable systems with application to Chua's circuits.
IET Proc. Control Theory Appl.
,
3 ,
572 -
577
-
2)
-
Z.P. Jiang
.
Iterative design of time-varying stabilizers for multi-input systems in chained form.
Syst. Control Lett.
,
5 ,
255 -
262
-
3)
-
M. Krstic ,
I. Kanellakopoulos ,
P.V. Kokotovic
.
(1995)
Nonlnear and adaptive control designs.
-
4)
-
Z.P. Wang ,
S.S. Ge ,
T.H. Lee
.
Robust adaptive neural network control of uncertain nonholonomic systems with strong nonlinear drifts.
IEEE Trans. Syst. Man Cybern.
,
5 ,
2048 -
2059
-
5)
-
K.D. Do ,
Z.P. Jiang ,
J. Pan
.
Simultaneous tracking and stabilization of mobile robots: an adaptive approach.
IEEE Trans. Autom. Control
,
7 ,
1147 -
1152
-
6)
-
C. Samson
.
Control of chaind systems application to path following and time-varying point-stabilization of mobile robots.
IEEE Trans. Autom. Control
,
1 ,
64 -
77
-
7)
-
M. Oya ,
C.Y. Su ,
R. Katoh
.
Robust adaptive motion/force tracking control of uncertain nonholonomic mechancal systems.
IEEE Trans. Robot. Automat.
,
1 ,
175 -
181
-
8)
-
I. Kolmanovsky ,
N.H. McClamroch
.
Developments in nonholonomic control problems.
IEEE Control Syst. Mag.
,
6 ,
20 -
36
-
9)
-
A. Bloch ,
M. Reyhanoglu ,
N.H. McClamroch
.
Control and stabilization of nonholonomic dynamic systems.
IEEE Trans. Auto Control
,
1746 -
1757
-
10)
-
Z.P. Jiang ,
H. Nijmeijer
.
Tracking control of mobile robots: A case study in backstepping.
Automatica
,
7 ,
1393 -
1399
-
11)
-
W.E. Dixon ,
D.M. Dawson ,
F. Zhang ,
E. Zergeroglu
.
Global exponential tracking control of a mobile robot system via a PE condition.
IEEE Syst. Man Cybern.
,
1 ,
129 -
142
-
12)
-
R.M. Murray ,
S.S. Sastry
.
Nonholonomic motion planning: Steering using sinusoids.
IEEE Trans. Autom. Control.
,
5 ,
700 -
716
-
13)
-
W. Dong ,
W.L. Xu
.
Adaptive tracking control of uncertain nonholonomic dynamic systems.
IEEE Trans. Autom. Control
,
3 ,
450 -
454
-
14)
-
G. Campion ,
G. Bastin ,
B. d'Andrea-Novel
.
Structural properties and classification of kinematics and dynamic models of wheeled mobile robots.
IEEE Trans. Robot Autom.
,
1 ,
47 -
62
-
15)
-
G.C. Walsh ,
L.G. Bushnell
.
Stabilization of multiple input chained form control systems.
Syst. Control. Lett.
,
3 ,
227 -
234
-
16)
-
W. Dong ,
W. Huo ,
S.K. Tso ,
W.L. Xu
.
Tracking control of uncertain dynamic nonholonomic system and its application to wheeled mobile robots.
IEEE Trans. Robot. Autom.
,
6 ,
870 -
874
-
17)
-
J.P. Jiang ,
H. Nijmeijev
.
A recursive technique for tracking control of nonholonomic system in chained form.
IEEE Trans. Autom. Control
,
2 ,
265 -
279
-
18)
-
C.M. Anupoju ,
C.Y. Su ,
M. Oya
.
Adaptive motion tracking control of uncertain nonholonomic mechancal systems including actuator dynamics.
IET Proc. Control Theory Appl.
,
5 ,
575 -
580
http://iet.metastore.ingenta.com/content/journals/10.1049/iet-cta.2008.0061
Related content
content/journals/10.1049/iet-cta.2008.0061
pub_keyword,iet_inspecKeyword,pub_concept
6
6