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Adaptive output-feedback control for trajectory tracking of electrically driven non-holonomic mobile robots

Adaptive output-feedback control for trajectory tracking of electrically driven non-holonomic mobile robots

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  • Author(s): B.S. Park 1 ; S.J. Yoo 2 ; J.B. Park 1 ; Y.H. Choi 3
    • View affiliations
    • Affiliations: 1: Department of Electrical and Electronic Engineering, Yonsei University, Seoul, Korea
      2: School of Electrical and Electronics Engineering, Chung-Ang University, Seoul, Korea
      3: Department of Electronic Engineering, Kyonggi University, Suwon-Si, Korea
  • Source: Volume 5, Issue 6, 14 April 2011, p. 830 – 838
    DOI:  10.1049/iet-cta.2010.0219 , Print ISSN 1751-8644, Online ISSN 1751-8652
© The Institution of Engineering and Technology
Published

In this study, the authors propose an adaptive output-feedback controller for trajectory tracking of electrically driven non-holonomic mobile robots in the presence of parametric uncertainties. A new adaptive observer using the transformation matrices is developed to estimate the unmeasured velocities of the mobile robot. By using the transformation matrices, the designed adaptive observer can deal with quadratic velocity terms caused by the Coriolis matrix in the mobile robot dynamics as well as uncertain parameters in quadratic velocity terms. Based on the designed adaptive observer, a simple tracking controller at the actuator level is induced from the dynamic surface design methodology. Using the Lyapunov stability theory, the authors prove that all errors in a closed-loop system are uniformly ultimately bounded and converge to an adjustable neighbourhood of the origin.

Inspec keywords: stability; closed loop systems; robot dynamics; uncertain systems; Lyapunov methods; position control; adaptive control; observers; feedback; mobile robots; matrix algebra

Other keywords: Lyapunov stability theory; electrically driven nonholonomic mobile robot; Coriolis matrix; trajectory tracking; parametric uncertainty; adaptive output feedback control; transformation matrices; mobile robot dynamics; quadratic velocity; closed loop system; dynamic surface design methodology; adaptive observer

Subjects: Self-adjusting control systems; Stability in control theory; Algebra; Spatial variables control; Mobile robots

References

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