Trajectory Tracking Control of Nonholonomic Wheeled Mobile Robots with Actuator Dynamic Being Considered

Abstract:

In this paper trajectory tracking control problem for nonholonomic wheeled mobile robots with the actuator dynamics being considered is studied. On the basis of rotation error transformation and backstepping technique, tracking control law designed for kinematic model is backstepped into dynamic model and furthermore actuator dynamics is involved. Closed-loop stability is guaranteed by Lyapunov theory and Routh-Hurwitz Criterion. Finally simulation results for tracking typical trajectory are presented.

• Periodical: Advanced Materials Research (Volumes 433-440)
• Pages: 2596-2601
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.433-440.2596
• Online since: January 2012
• Authors: Guang Xin Han, Yan Hui Zhao
• Keywords: Actuator Dynamics, Backstepping, Tracking, Wheeled Mobile Robot

References

[1] G. X. Han, H. Chen, M. M. Ma, H. Y. Zhao, Nonlinear model predictive control of trajectory for nonholonomic mobile robots with constraints, Vol. 39, No. 1, 2009, pp.177-181.

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

DOI: 10.1109/robot.1990.126006

[3] R. W. Brockett, Asymptotic stability and feedback stabilization., In: Differential Geometric Control Theory ( R.W. Brockett, R.S. Millman and H.J. Sussman, Eds). Birkhauser, Boston, USA, pp.181-191, (1983).

[4] D. B. Gu, H. S. Hu, Receding horizon tracking control of wheeled mobile robots, IEEE Transactions on Control System Technology, Vol. 14, No. 4, 2006, pp.743-749.

DOI: 10.1109/tcst.2006.872512

[5] X. H. Jiang, Y. H. Motai, X. Q. Zhu, Predictive fuzzy control for a mobile robot with nonholonomic constraints, Proceedings of 12th IEEE International Conference on Advanced Robots, 2005, pp.58-63.

DOI: 10.1109/icar.2005.1507391

[6] D. K. Chwa, J. H. Seo, P. Kim, J. Y. Choi, Sliding mode control for trajectory tracking of nonholonomic wheeled mobile robots, Proceedings of American Control Conference, 2002, pp.3991-3996.

DOI: 10.1109/acc.2002.1024553

[7] K. Lozlowski, J. Majchrzak, A backstepping approach to control a nonholonomic mobile robot, Proceedings of the 2002 IEEE International Conference on Robotics & Automation, Washington, DC. pp.3972-3977, (2002).

DOI: 10.1109/robot.2002.1014352

[8] D. Tamoghna, N. K. Indra, Design an implementation of an adaptive fuzzy logic-based controller for wheeled mobile robots, IEEE Transactions on Control Systems Technology, vol. 14, no. 3, pp.501-510, (2006).

DOI: 10.1109/tcst.2006.872536

[9] S. C. Andre, A. P. Moreira, J. C. Paulo, A nonlinear model predictive control strategy for trajectory tracking of a four-wheeled omni-directional mobile robot, Optimal Control Application and Methods, vol. 29, pp.335-352, (2007).

DOI: 10.1002/oca.827

[10] M. L. Corradini, G. Orlando, Control of mobile robots with uncertainties in the dynamical model: A discrete time sliding model approach with experimental result, Control Engineering Practice, no. 10, pp.23-34, (2002).

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

[11] Z. P. Jiang, H. Nijmerjer, Tracking control of mobile robots: A case study in backstepping, Automatica, Vol. 33, No. 7, 1997, p.1393.

[12] Kanayama Y., Kimura Y., Miyazaki F., Noquchi T, 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

[13] Krstic, M. , I. Kanellakopoulos and P. Kokotovic, Nonlinear and Adaptive Control Design, John Wiley & Sons, Inc, New York, (1995).