Model reference adaptive control of a nonholonomic wheeled mobile robot for trajectory tracking

Canigur, Emine; Özkan, Metin

doi:10.1109/inista.2012.6247005

Cited by 18 publications

(10 citation statements)

References 6 publications

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“…Different approaches have been investigated using fuzzy control [11,12], sliding mode control (SMC) [13,14], adaptive control [15,16,17], or backstepping control [18,19].…”

Section: Introductionmentioning

confidence: 99%

“…In [16] an adaptive controller based on the dynamic model provides the torques of the robot actuators for yielding the required velocities is designed in the presence of unknown dynamics only in its dynamic model. An adaptive trajectory-tracking controller based on the robot dynamics is proposed with experimental results in [17], and its stability is proved using the Lyapunov stability theorem, The dynamic controller is capable of updating the estimated parameters, which are directly related to physical parameters of the robot.…”

Section: Introductionmentioning

confidence: 99%

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Backstepping Approach for Autonomous Mobile Robot Trajectory Tracking

Ibari¹,

Benchikh²,

Reda³

et al. 2016

IJEECS

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This paper proposes a backstepping controller design for trajectory tracking of unicycle-type mobile robots. The main object of the control algorithms developed is to design a robust output tracking controller. The design of the controller is based on the lyapunov theorem, kinematic tracking controller of an unicyclelike mobile robot is used to provides the desired values of the linear and angular velocities for the given trajectory. A Lyapunov-based stability analysis is presented to guarantee the robot stability of the tracking errors. Simulation and experimental results show the effectiveness of the proposed robust controller in term of accuracy and stability under different load conditions.

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“…Different approaches have been investigated using fuzzy control [11,12], sliding mode control (SMC) [13,14], adaptive control [15,16,17], or backstepping control [18,19].…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Backstepping Approach for Autonomous Mobile Robot Trajectory Tracking

Ibari¹,

Benchikh²,

Reda³

et al. 2016

IJEECS

View full text Add to dashboard Cite

show abstract

“…In the recent years, some researches have focused on model reference adaptive control for wheeled mobile robots; see, for example, . In , an adaptive algorithm that is a combination of model reference adaptive control and gain scheduling is developed for trajectory tracking of a nonholonomic wheeled mobile robot in the presence of parametric uncertainties and noises in only its dynamic model.…”

Section: Introductionmentioning

confidence: 99%

“…In , an adaptive algorithm that is a combination of model reference adaptive control and variable structure control is developed for trajectory tracking by using a decoupled linear model, which include kinematic and dynamic model. In , a model reference adaptive control scheme for trajectory tracking of a nonholonomic wheeled mobile robot is proposed in the presence of unknown dynamics only in its dynamic model.…”

Section: Introductionmentioning

confidence: 99%

“…Unlike the aforementioned works, especially in comparison with , in this paper, the trajectory tracking problem for a wheeled mobile robot in the presence of kinematic and dynamical uncertainties and disturbances depending on the sliding velocity has been addressed on the basis of a comprehensive model of wheeled mobile robot. These uncertainties and disturbances depending on the sliding velocity, which are not considered in most works, have undesirable effects on trajectory tracking performance.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive trajectory tracking control of wheeled mobile robots with disturbance observer

Taheri-Kalani

Khosrowjerdi

2013

Adaptive Control & Signal

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In this paper, the trajectory tracking problem for a wheeled mobile robot in the presence of kinematic and dynamic uncertainties has been addressed. Uncertainties are modeled as lumped disturbances. A kinematic controller based on feedback linearization approach and a dynamic controller based on model reference adaptive control are designed in the presence of disturbances. In order to ensure both robustness and implementability of the controllers, the disturbances are estimated by a generalized linear matrix inequality-based disturbance observer. Simulation results show the effectiveness of the proposed method.

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Mechatronic Design of a Mobile Robot and Non-Linear Control

Hernández

Torres

Salazar

2014

Multibody Mechatronic Systems

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In this work design of a mobile robot is presented, which is used as laboratory tool to test various control algorithms. This work also presents a variable control structure for the mobile robot. The internal control scheme uses a PID controller to control the motors angular speed, while the external loop is associated to the kinematic model of the robot and is also responsible to generate the reference velocity trajectory for each motor. The proposed control uses two types of state feedback control algorithms, which are switched from one to another at the point one encounters with a singularity.

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Model reference adaptive control of a nonholonomic wheeled mobile robot for trajectory tracking

Cited by 18 publications

References 6 publications

Backstepping Approach for Autonomous Mobile Robot Trajectory Tracking

Backstepping Approach for Autonomous Mobile Robot Trajectory Tracking

Adaptive trajectory tracking control of wheeled mobile robots with disturbance observer

Mechatronic Design of a Mobile Robot and Non-Linear Control

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