Trajectory tracking control for wheeled mobile robots based on nonlinear disturbance observer with extended Kalman filter

This article tackles the trajectory tracking problem for a non-holonomic wheeled mobile robot (WMR) with non-random and random disturbances. A nonlinear disturbance observer with extended Kalman filter (NDEKF) is designed to observe the velocity and the non-random disturbance of the WMR. An error fe...

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Bibliographic Details
Published inJournal of the Franklin Institute Vol. 357; no. 13; pp. 8491 - 8507
Main Authors Li, Li, Wang, Tianqi, Xia, Yuanqing, Zhou, Ning
Format Journal Article
LanguageEnglish
Published Elmsford Elsevier Ltd 01.09.2020
Elsevier Science Ltd
Subjects
Disturbance observers
Error feedback
Extended Kalman filter
Feedback control
Kalman filters
Mean square errors
Robot control
Robots
Tracking control
Tracking control systems
Tracking errors
Tracking problem
Trajectory control
Velocity
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Summary:This article tackles the trajectory tracking problem for a non-holonomic wheeled mobile robot (WMR) with non-random and random disturbances. A nonlinear disturbance observer with extended Kalman filter (NDEKF) is designed to observe the velocity and the non-random disturbance of the WMR. An error feedback controller and a kinematic controller are proposed to achieve the disturbance compensation and perfect position tracking. The mean square exponential boundedness for the estimation error of NDEKF is presented. Applying the Lyapunov stability theory, it is proved that the velocity and position tracking error of the double closed-loop system are uniformly ultimately asymptotically stable. Finally, numerical simulations demonstrate the validity of the presented methodology.
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content type line 14
ISSN:0016-0032
1879-2693
0016-0032
DOI:10.1016/j.jfranklin.2020.04.043