Adaptive Tracking Control for Differential-Drive Mobile Robots with Multi Constraint Conditions
To solve the trajectory tracking problem, we propose an adaptive controller with input constraint for the differential-drive mobile robots containing uncertain parameters. Two inequalities guarantee the satisfaction of input constraints, and the adaptive
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Abstract To solve the trajectory tracking problem, we propose an adaptive controller with input constraint for the differential-drive mobile robots containing uncertain parameters. Two inequalities guarantee the satisfaction of input constraints, and the adaptive control method can adjust the uncertain parameters of the kinematic model on line. The system stability is proved by the Lyapunov stability theory. Simulation results verified the effectiveness of the former proposed method. Keywords Adaptive tracking control
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Uncertain parameters
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Input constraints
1 Introduction In recent years, the control problem of nonholonomic systems has been studied extensively, and the differential-drive mobile robots have been paid more attention by researchers as a typical nonholonomic system. According to the Brockett condition, any control law of smooth and non time-varying cannot solve the stabilization problem of nonholonomic systems. The control problem is more complicated. At present, there have been many researches on trajectory tracking of nonholonomic mobile robots, such as backstepping method [1], sliding mode control [2], feedback linearization [3], fuzzy logic control [4], neural network-based control [5], and their combinations [6]. In practice, there are uncertain parameters in the robot system, and the adaptive method is an effective way to solve the control problem of the robot system. In [7], an adaptive tracking controller for the kinematic model with uncertain parameters is designed. In [8], the backstepping method is used to design an adaptive tracking controller for the differential-drive mobile robots with uncertain parameters. In addition to uncertain parameters, the robot L. Yang (✉) ⋅ Y. Jia The Seventh Research Division and the Center for Information and Control, Beihang University (BUAA), Beijing 100191, China e-mail: [email protected] © Springer Science+Business Media Singapore 2016 Y. Jia et al. (eds.), Proceedings of 2016 Chinese Intelligent Systems Conference, Lecture Notes in Electrical Engineering 405, DOI 10.1007/978-981-10-2335-4_38
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system also has the problem of input constraints. For example, the linear velocity and angular velocity of the mobile robot is bounded. In [9], the backstepping technique is used to solve the tracking control problem for the nonholonomic mobile robots with input constraint. In [10], a trajectory tracking controller is designed based on the control Lyapunov function. In [11], the tracking controller is designed using two first-order filters with bounded velocities and accelerations. But no article has discussed the trajectory tracking control problem of mobile robots under the above two kinds of constraints. In this paper, we design an adaptive controller for the kinematic model of the differential-drive mobile robots with uncertain parameters and input constraints to solve the tracking control problem. The arrangement of this paper is as follows: in Sect. 2, the trajectory tracking error equation under the condition of input cons
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