Title :
Adaptive tracking control of a nonholonomic mobile robot
Author :
Fukao, Takanori ; Nakagawa, Hiroshi ; Adachi, Norihiko
Author_Institution :
Dept. of Syst. Sci., Kyoto Univ., Japan
fDate :
10/1/2000 12:00:00 AM
Abstract :
A mobile robot is one of the well-known nonholonomic systems. The integration of a kinematic controller and a torque controller for the dynamic model of a nonholonomic mobile robot has been presented (Fierro and Lewis, 1995). In this paper, an adaptive extension of the controller is proposed. If an adaptive tracking controller for the kinematic model with unknown parameters exists, an adaptive tracking controller for the dynamic model with unknown parameters can be designed by using an adaptive backstepping approach. A design example for a mobile robot with two actuated wheels is provided. In this design, a new kinematic adaptive controller is proposed, then a torque adaptive controller is derived by using the kinematic controller
Keywords :
adaptive control; mobile robots; position control; robot dynamics; robot kinematics; torque control; actuated wheels; adaptive backstepping approach; adaptive tracking control; dynamic model; kinematic adaptive controller; nonholonomic mobile robot; torque adaptive controller; Adaptive control; Backstepping; Intelligent robots; Kinematics; Mobile robots; Programmable control; Symmetric matrices; Torque control; Velocity control; Wheels;
Journal_Title :
Robotics and Automation, IEEE Transactions on
