Adaptive tracking control of high-order non-holonomic mobile robot systems

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Adaptive tracking control of high-order non-holonomic mobile robot systems

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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.

Inspec keywords: tracking; uncertain systems; control system synthesis; asymptotic stability; robot kinematics; polynomials; closed loop systems; mobile robots; adaptive control; linear systems; robot dynamics

Other keywords: closed-loop system; asymptotic tracking stability; backstepping-based tracking control design; dynamic design level; modulated linear stabilising function; virtual controller; nonholonomic mobile robot system; high-degree polynomial; uncertain mobile robot system; adaptive tracking control; kinematic controller

Subjects: Self-adjusting control systems; Algebra; Stability in control theory; Mobile robots; Robot and manipulator mechanics; Algebra; Control system analysis and synthesis methods

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