Adaptive tracking control for a class of wheeled mobile robots with unknown skidding and slipping

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Adaptive tracking control for a class of wheeled mobile robots with unknown skidding and slipping

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Published

This study presents an adaptive tracking control approach for trajectory tracking of wheeled mobile robots with torque saturation in the presence of unknown skidding and slipping. The robot kinematics and dynamics are induced from the perturbed non-holonomic constraints. The adaptive control system using the kinematics transformed in polar coordinates is developed to compensate unknown skidding and slipping at the dynamic level of mobile robots with the input saturation. All signals of the controlled closed-loop system are uniformly bounded and the point tracking errors converge to an adjustable neighbourhood of the origin regardless of large initial tracking errors, input saturation and unknown skidding and slipping. Simulation results are provided to demonstrate the performance and stability of the proposed control scheme.

Inspec keywords: robot dynamics; adaptive control; tracking; mobile robots; position control; closed loop systems; robot kinematics

Other keywords: closed-loop system; adaptive tracking control; trajectory tracking; unknown skidding; robot dynamics; robot kinematics; wheeled mobile robots; unknown slipping

Subjects: Spatial variables control; Self-adjusting control systems; Mobile robots; Robot and manipulator mechanics

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