Adaptive Tracking and Stabilization of Nonholonomic Mobile Robots With Input Saturation

This article investigates the control problems of tracking and stabilization simultaneously for nonholonomic mobile robots subjected to input constraints and parameter uncertainties. A saturated time-varying controller is developed by applying a novel error state modification with bounded auxiliary...

Full description

Saved in:
Bibliographic Details
Published inIEEE transactions on automatic control Vol. 67; no. 11; pp. 6173 - 6179
Main Author Li, Jia-Wang
Format Journal Article
LanguageEnglish
Published New York IEEE 01.11.2022
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Adaptive control
Angular velocity
constrained control
Controllers
Convergence
Kinematics
Mobile robots
Parameter uncertainty
Perturbation methods
Radial basis function
robotics
Robots
Stabilization
tracking and stabilization
Tracking control
Trajectory
Wheels
Online AccessGet full text

Cover

More Information
Summary:This article investigates the control problems of tracking and stabilization simultaneously for nonholonomic mobile robots subjected to input constraints and parameter uncertainties. A saturated time-varying controller is developed by applying a novel error state modification with bounded auxiliary variables. To improve the estimation performance of unknown kinematic and dynamic parameters, two projection-type adaptation laws are presented, while radial basis function approximations are used to estimate uncertain dynamics. Simulations are conducted to verify the effectiveness of the proposed controller.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2021.3129158