Adaptive Tracking and Regulation of a Wheeled Mobile Robot With Controller/Update Law Modularity

Abstract

Abstract-A new adaptive controller is developed for wheeled mobile robots with parametric uncertainty in the dynamic model. The main theoretical contribution is the modular manner in which the control law and parameter update law are designed. This feature allows for design flexibility in the selection of the update law, and can be exploited to improve the transient response of the adaptive controller. The proposed controller also has the important feature of being applicable to both the tracking and regulation problems. The modularity of the adaptive controller is experimentally demonstrated on a K2A Cybermotion mobile robot that has been modified to allow for the implementation of torque-level control inputs. In particular, the adaptive controller with a gradient update law is evaluated vis-à-vis a least-squares update law.Index Terms-Adaptive control, input-output stability, Lyapunov methods, least squares methods, mobile robot dynamics.

Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation

“…Shojaei et al [70] designed a control algorithm, robust under parametric and nonparametric uncertainty, which combines an inverse dynamics control and an adaptive robust PID control. Finally, other contributions that employ the dynamic model only of the WMR mechanical structure in the control design can be found in [71][72][73][74][75][76][77][78][79][80].…”

An adaptive unscented Kalman filter-based adaptive tracking control for wheeled mobile robots with control constrains in the presence of wheel slipping

“…Because three slipping parameters a R , a L , and in equation (8) cannot be measured directly, it is necessary to estimate slipping parameters in order to design tracking controller.…”

Challenges and Solutions for Autonomous Robotic Mobile Manipulation for Outdoor Sample Collection

“…The mobile manipulator needs to park at valve, sample returning, and battery recharging locations, and to move along the planned-path. Thus, we need to solve the control problems consisting of fixed-point stabilization, and [75][76][77][78][79]; trajectory-tracking, which deals with the design of controllers that force a mobile robot to reach and follow a time parameterized reference trajectory (i.e., a geometric path with an associated timing law) [78][79][80][81][82][83][84][85]; or path-following, in which the robot is required to converge to and follow a reference path that is specified without a temporal law (i.e., dealing with the design of controllers driving the robot's trajectories to a maneuver up to time re-parameterization) [75,[86][87][88][89][90][91][92][93][94][95][96][97][98]. The path-following task is more suitable for the proposed mobile manipulator since it can use the path-derivative as an additional control input (giving more robustness) and the sample collection time is not so strict.…”