This paper concentrates on the discussions on stabilization of mobile robots with unknown constant-input disturbance. Continuous time-varying adaptive controllers are designed for mobile robots in a chain-form by using Lyapunov approach. With the property of homogeneous systems, uncertain mobile robots governed by the proposed control algorithms become homogeneous of order 0 to achieve exponential stability. Simulation results validate the theoretical analysis.
From the practical engineering point of view, path tracking control for mobile robots has been investigated in this paper. It escapes from planning trajectory with the planned geometric path and enable direct tracking of the geometric path. The kinematic model of mobile robots and the desired path are described in polar coordinate. The influence on control performance resulted from the factitious choice of desired reference points is eliminated by considering polar angle as parameter. The controller is designed based on backstepping method, which is systematic and flexible. The convergence of the system is throughout the design procedure. Simulation results are given to verify the proposed control laws.
This article proposes a robust adaptive trajectory control scheme for robotic trajectory tracking under uncertainties. The control scheme is globally exponentially convergent without the knowledge of the robotic dynamics and is simple in structure with a small computation. It can make the trajectory error convergent to an arbitrary small region. Lyapunov approach is used to analyze the stability and the robustness of this control scheme. Experiments on a two-link direct-drive robotic manipulator verify the validity of the proposed control scheme. ᮊ
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.