Wheeled Mobile Robot Tracking Control without Velocity Measurement

Abstract:

In this paper, a new robust trajectory tracking control scheme for wheeled mobile robots without velocity measurement is proposed. In the proposed controller, the velocity observer is used to estimate the velocity of wheeled mobile robot. The dynamics of wheeled mobile robot is considered to develop the controller. The proposed controller has the following features: i) The proposed controller has good robustness performance; ii) It is easy to improve tracking performance by setting only one design parameters.

• Periodical: Applied Mechanics and Materials (Volumes 373-375)
• Pages: 231-237
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.373-375.231
• Online since: August 2013
• Authors: Qiang Wang, Guang Tong, Xin Xing
• Keywords: Observer, Robust Control, Tracking Control, Velocity, Wheeled Mobile Robot

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