Title :
Adaptive sliding mode trajectory tracking control of mobile robot with parameter uncertainties
Author :
Kunpeng, Li ; Xuewen, Wang ; Mingxin, Yuan ; Xiaohu, Li ; Sunan, Wang
Author_Institution :
Mech. Eng. Dept., Xi´´an Jiaotong Univ., Xi´´an, China
Abstract :
The trajectory tracking control problem of nonholonomic mobile robots with parameter uncertainties has been analyzed. The kinematics and dynamical models of mobile robots are taken into account, the control rule based on the kinematics model is taken as desired virtual control, and the adaptive sliding mode controller is designed, as the controller take into account both kinematics and dynamical model, the robot can not only track trajectory smoothly, but also be robust to parameter uncertainties. Based on Lyapunov theory, the system is stable. Finally, simulations are performed on the system with parameter uncertainties, and the results show that the proposed controller can track desired trajectory effectively.
Keywords :
Lyapunov methods; adaptive control; control system synthesis; mobile robots; robot dynamics; robot kinematics; uncertain systems; variable structure systems; Lyapunov theory; adaptive sliding mode trajectory tracking control; controller design; nonholonomic mobile robots; parameter uncertainties; trajectory tracking; Adaptive control; Kinematics; Mechanical engineering; Mobile robots; Programmable control; Robot control; Sliding mode control; Trajectory; Uncertain systems; Wheels;
Conference_Titel :
Computational Intelligence in Robotics and Automation (CIRA), 2009 IEEE International Symposium on
Conference_Location :
Daejeon
Print_ISBN :
978-1-4244-4808-1
Electronic_ISBN :
978-1-4244-4809-8
DOI :
10.1109/CIRA.2009.5423219
