A Novel Path Following Controller for an Uncertain Wheeled Mobile Robot

Author

Le Qi ; Ma, Baoli ; Li, Wei

Author_Institution

Foreign Training Dept., First Aeronaut. Eng. Inst. of Chinese Air Force, Xinyang, China

fYear

2010

fDate

25-27 June 2010

Firstpage

205

Lastpage

208

Abstract

Feedback linearization approach and Lyapunov tool are used to construct an adaptive control law achieving asymptotical tracking of the desired geometric path in the presence of parameter uncertainties. Backstepping technique is used to obtain the control effort in the torque level. The advantage of the control scheme lies in that it removes the restrictions of the desired longitudinal velocity of the wheeled mobile robot being always positive or negative. Simulation results show the effectiveness of the proposed control scheme.

Keywords

Lyapunov methods; adaptive control; feedback; linearisation techniques; mobile robots; path planning; uncertain systems; Lyapunov tool; adaptive control; asymptotic tracking; backstepping technique; feedback linearization approach; longitudinal velocity; parameter uncertainty; path following controller; uncertain wheeled mobile robot; Mobile robots; Simulation; Torque; Trajectory; Uncertain systems; Wheels; adaptive; backstepping; parameter uncertainty; path following; wheeled mobile robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical and Control Engineering (ICECE), 2010 International Conference on

Conference_Location

Wuhan

Print_ISBN

978-1-4244-6880-5

Type

conf

DOI

10.1109/iCECE.2010.57

Filename

5630921