Model Reference Adaptive Path Following for Wheeled Mobile Robots

Ashoorirad, Masoomeh; Barzamini, R.; Afshar, Ahmad; Jouzdani, Javid

doi:10.1109/icinfa.2006.374132

Cited by 12 publications

(10 citation statements)

References 14 publications

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Section: Introductionmentioning

confidence: 99%

“…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. 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.…”

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%

See 2 more Smart Citations

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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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Adaptive trajectory tracking control of wheeled mobile robots with disturbance observer

Taheri-Kalani

Khosrowjerdi

2013

Adaptive Control & Signal

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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 the presence of parametric uncertainties and noises in only its dynamic model, a combination of model reference adaptive control and gain scheduling is developed in [15] to control the robot motion by the adaptive controller. 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.…”

Section: Introductionmentioning

confidence: 99%

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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