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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| Published in | Journal of the Franklin Institute Vol. 357; no. 13; pp. 8491 - 8507 |
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| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
| Published |
Elmsford
Elsevier Ltd
01.09.2020
Elsevier Science Ltd |
| Subjects | |
| Online Access | Get full text |
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| Abstract | 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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| AbstractList | 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. |
| Author | Xia, Yuanqing Li, Li Zhou, Ning Wang, Tianqi |
| Author_xml | – sequence: 1 givenname: Li surname: Li fullname: Li, Li email: lili@ysu.edu.cn organization: Engineering Research Center of the Ministry of Education for Intelligent Control System and Intelligent Equipment, School of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China – sequence: 2 givenname: Tianqi surname: Wang fullname: Wang, Tianqi email: wangtianqi103@163.com organization: Engineering Research Center of the Ministry of Education for Intelligent Control System and Intelligent Equipment, School of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China – sequence: 3 givenname: Yuanqing surname: Xia fullname: Xia, Yuanqing email: xia_yuanqing@bit.edu.cn organization: School of Automation, Beijing Institute of Technology, Beijing 100081, China – sequence: 4 givenname: Ning surname: Zhou fullname: Zhou, Ning email: zhouning2010@gmail.com organization: School of Electrical Engineering, Hebei University of Science and Technology, Shijiazhuang 050018, China |
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| Snippet | This article tackles the trajectory tracking problem for a non-holonomic wheeled mobile robot (WMR) with non-random and random disturbances. A nonlinear... |
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| SubjectTerms | 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 |
| Title | Trajectory tracking control for wheeled mobile robots based on nonlinear disturbance observer with extended Kalman filter |
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