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Approximation-based adaptive control for a class of mobile robots with unknown skidding and slipping

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  • Control Theory
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Abstract

An adaptive tracking control approach using function approximation technique is proposed for trajectory tracking of Type (2,0) wheeled mobile robots with unknown skidding and slipping in polar coordinates and at the dynamic level. The nonlinear disturbance observer (NDO) is used to estimate a nonlinear disturbance term including unknown skidding and slipping. The adaptive control system is designed via the function approximation technique using neural networks employed to compensate the NDO error. It is proved that all signals of the controlled closed-loop system are uniformly bounded and the point tracking errors converge to an adjustable neighborhood of the origin regardless of large initial tracking errors and unknown skidding and slipping. Simulation results are presented to validate the good tracking performance and robustness of the proposed control system against unknown skidding and slipping.

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Authors and Affiliations

  1. School of Electrical and Electronics Engineering, Chung-Ang University, 221 Heukseok-dong, Dongjak-gu, Seoul, 156-756, Korea

    Sung Jin Yoo

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  1. Sung Jin Yoo
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Correspondence to Sung Jin Yoo.

Additional information

Recommended by Editorial Board member Yangmin Li under the direction of Editor Hyouk Ryeol Choi.

This research was supported by Basic Science Research Program through the National Research Foundation of Korea(NRF) funded by the Ministry of Education, Science and Technology( 2012001440).

Sung Jin Yoo received his B.S., M.S., and Ph.D. degrees from Yonsei University, Seoul, Korea, in 2003, 2005, and 2009, respectively, in Electrical and Electronic Engineering. He has been a Post-doctoral researcher in the Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Illinois from 2009 to 2010. He is currently an Assistant Professor in the School of Electrical and Electronics Engineering, Chung-Ang University, Seoul, South Korea. His research interests include nonlinear adaptive control, decentralized control, distributed control, and neural networks theories, and their applications to robotic, flight, and time-delay systems.

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Yoo, S.J. Approximation-based adaptive control for a class of mobile robots with unknown skidding and slipping. Int. J. Control Autom. Syst. 10, 703–710 (2012). https://doi.org/10.1007/s12555-012-0405-6

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  • DOI: https://doi.org/10.1007/s12555-012-0405-6

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