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

A Saturating Extension of an Output Feedback Controller for Internally Damped Euler‐Lagrange Systems

“…The design of tracking controllers for such systems is a difficult task because of the challenging theoretical nature of the problem, according to Brockett's theorem [19,20]. To the best of the authors' knowledge, in spite of the existence of a large number of proposed controllers for nonholonomic WMRs in the literature [21][22][23][24][25][26][27][28][29][30][31][32][33][34], there is no work to theoretically support the idea of designing a bounded output feedback controller to solve the tracking problem of uncertain dynamic nonholonomic WMRs. In this section, the proposed bounded tracking controller is applied successfully to solve this problem for nonholonomic WMRs under actuator constraints and without velocity measurements.…”

“…This makes the EL system track a desired trajectory with less control energy and more acceptable tracking performance in the presence of parametric uncertainties. The proposed controller alleviates fast transient and high frequency components of the control signals in order to provide feasible control signals, considering the limited bandwidth of actuators. An application of the proposed bounded adaptive OFBC to the trajectory tracking of a nonholonomic wheeled mobile robot (WMR) is presented, which is new and attractive from theoretical and practical viewpoints. According to and to the best of the authors' knowledge, there is no result on the bounded adaptive output feedback tracking control of nonholonomic WMRs. Simulation results are provided to illustrate that the controller copes well with actuator constraints when the initial tracking errors are large.…”

“…• An application of the proposed bounded adaptive OFBC to the trajectory tracking of a nonholonomic wheeled mobile robot (WMR) is presented, which is new and attractive from theoretical and practical viewpoints. According to [20][21][22][23][24][25][26][27][28][29][30][31][32][33][34][35][36][37] and to the best of the authors' knowledge, there is no result on the bounded adaptive output feedback tracking control of nonholonomic WMRs. Simulation results are provided to illustrate that the controller copes well with actuator constraints when the initial tracking errors are large.…”

Adaptive Fuzzy Integral Terminal Sliding Mode Control of a Nonholonomic Wheeled Mobile Robot

“…The modeling and analysis were investigated to design the controller for the WMR in [6]. Meanwhile, a variety of nonlinear control techniques have been used by many researchers, such as adaptive control [7][8][9][10][11], robust adaptive control [12][13][14], adaptive fuzzy logic control [15][16][17][18], adaptive neural network control [19,20], and sliding mode control [21][22][23], and several kinds of the aforementioned methodologies are integrated to solve this problem [24,25].…”

Application of the Udwadia–Kalaba approach to tracking control of mobile robots

“…To address the tracking control problem of mobile robots, valuable classic control approaches have been presented, such as sliding mode control [1][2][3], adaptive control [4,5], robust control [6], adaptive sliding mode control [7], robust PID control [8] and adaptive robust control [9]. Alternatively, intelligent control has become an interesting topic for controlling complex systems by function approximation or obtaining rules from the experts knowledge using some powerful tools such as fuzzy logic, neural networks and intelligent algorithms.…”