Paper Titles

Study of the Bit Key Technology in the Airborne Measurement and Control System
p.1172

Research on the Multi-Disciplinary Optimization Design Technology for the ETO Product
p.1177

Research on the Cooperative CAPP Modularity Technique Supporting the ETO Product
p.1183

The Auto-Adaptive Digital Watermark Algorithm Based on Wavelet Transformation and FCM Algorithm
p.1189

Adaptive Tracking Control of Wheeled Mobile Robots
p.1195

Application of Fiber Point Diffraction in Measurement of Optical Surface
p.1200

Nondestructive Testing of Blockboard Using Combination of Wavelet Transform and Gray-Scale Mathematical Morphology
p.1206

Edge Detection of Color Image Using Unit-Linking PCNN
p.1211

Elevator Group Control System Based on Fuzzy Single-Chip Computer
p.1218

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 55-57Adaptive Tracking Control of Wheeled Mobile Robots

Adaptive Tracking Control of Wheeled Mobile Robots

Article Preview

Abstract:

Trajectory-tracking problem of wheeled mobile robots is investigated. Adaptive control scheme utilized has only one control signal. The control input gives out the velocity increments which will be utilized to adjust the pose of WMR so as to track the desired trajectories. The controller adopted is simple to realize and easy to tune the parameters, which is benefit to real applications. Numerical simulation results show that the control scheme is valid.

You might also be interested in these eBooks

Recent Trends in Materials and Mechanical Engineering Materials, Mechatronics and Automation

Info:

Periodical:

Applied Mechanics and Materials (Volumes 55-57)

Pages:

1195-1199

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.55-57.1195

Citation:

Cite this paper

Online since:

May 2011

Authors:

Min Zuo, Guang Ping Zeng, Xu Yan Tu

Keywords:

Adaptive Control, Trajectory Tracking, Velocity Increments, Wheeled Mobile Robot (WMR)

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

© 2011 Trans Tech Publications Ltd. All Rights Reserved

Share:

Citation:

[1] M. L. Corradini, G. Orlando. Control of mobile robots with uncertainties in the dynamical model: a discrete time sliding mode approach with experimental results. Control Engineering Practice 2002 10 23-24.

DOI: 10.1016/s0967-0661(01)00109-5

[2] R. W. Brockett. Asymptotic stability and feedback stabilization. Differential Geometric Control Theory, Boston: Birkhauser, pp.181-208, (1983).

[3] I. Kolmanovsky, N. H. McClamroch. Development in nonholonomic control problems. IEEE Control System Magazine, 1995, 20-36.

[4] Y. Kanayama, Y. Kimura, F. Miyazaki, T. Noguchi. A stable tracking control method for an autonomous mobile robot. Proceedings of IEEE Conference on Robotics and Automation, 1990, 384-389.

DOI: 10.1109/robot.1990.126006

[5] W. Oelen, J. van Amerongen. Robust tracking control of two-degrees-of-freedom mobile robots. Control Engineering Practice, 1994, 2(2), 333-340.

DOI: 10.1016/0967-0661(94)90215-1

[6] D. H. Kim, T. H. Oh. Tracking control of a two-wheeled mobile robot using input-output linearizati- on. Control Engineering Practice, 1999, 7, 369-373.

DOI: 10.1016/s0967-0661(98)00184-1

[7] Z. P. Jiang, H. Nijmeijev. A recursive technique for tracking control of nonholonomic system in chained form. IEEE Transactions on Automatic Control, 1999, 44(2), 265-279.

DOI: 10.1109/9.746253

[8] Z. P. Jiang, H. Nijmeijev. Tracking control of mobile robots: a case study in backstepping. Automatica, 1997, 33(7), 1393-1399.

[9] A. M. Bloch, S. Drakunov. Stabilization and tracking in the nonholonomic integrator via sliding modes. System and Control Letters, 1996, 29(2), 91-99.

DOI: 10.1016/s0167-6911(96)00049-7

[10] S. Pawlowski, P. Dutkiewicz, K. Kozlowski, W. Wroblewski. Fuzzy logic implementation in mobile robot control. Proceedings of the second International Workshop on Robot Motion and Control, 2001, 65-70.

DOI: 10.1109/romoco.2001.973433

[11] S. V. Gusev, I. A. Makarov, I. E. Paromtchik, V. A. Yakubovich, C. Laugier. Adaptive motion control of a nonholonomic vehicle. Proceedings of IEEE International Conference on Robotics and Automation, 1998, 3285-3290.

DOI: 10.1109/robot.1998.680945

[12] F. N. Martins, W. C. Celeste, R. Carelli, M. S. Filho, T. F. Bastos-Filho. An adaptive dynamic controller for autonomous mobile robot trajectory tracking. Control Engineering Practice, 2008, 16, 1354-1363.

DOI: 10.1016/j.conengprac.2008.03.004

[13] S. Jakubek, M. Seyr, G. Novak. Autonomous mobile robot proprioceptive navigation and predictive trajectory tracking. International Journal of Control, 2008, 81(6), 989-1001.

DOI: 10.1080/00207170701616882

[14] M. L. Corradini, G. Orlando. Control of mobile robots with uncertainties in the dynamical model: a discrete time sliding mode approach with experimental results. Control Engineering Practice, 2002, 10, 23-34.

DOI: 10.1016/s0967-0661(01)00109-5

[15] R. Fierro, F. L. Lewis. Control of a nonholonomic mobile robot using neural networks. IEEE Transactions on Neural Networks, 1998, 9(4), 589-600.

DOI: 10.1109/72.701173

[16] Jun Ye. Adaptive control of nonlinear PID-based analog neural networks for a nonholonomic mobile robot. Neurocomputing, 2008, 71, 1561-1565.

DOI: 10.1016/j.neucom.2007.04.014

[17] B. S. Chen, T. S. Lee, W. S. Chang. A robust H∞ model reference tracking design for non-holonomic mechanical control systems. International Journal of Control, 1996, 63, 283-306.

DOI: 10.1080/00207179608921844

[18] C. Y. Chen, TH. S. Li, Y. C. Yeh, C. C. Chang. Design and implementation of an adaptive sliding-mode dynamic controller for wheeled mobile robots. Mechatronics, 2009, 19, 156-166.

DOI: 10.1016/j.mechatronics.2008.09.004

[19] A. Tornambé, P. Valigi, A decentralized controller for the robust stabilization of a class of MIMO dynamical systems, Journal of Dynamic Systems, Measurement and Control 1994, 116, 293-304.

DOI: 10.1115/1.2899223