Name
Abstract | ||
|---|---|---|
A torque controller based on adaptive robust control is proposed for trajectory tracking of nonholonomic wheeled mobile robot with kinematic and dynamic uncertainties. In this controller, the parametric uncertainties are estimated by the adaptive control, and the non-parametric uncertainties are compensated by the adaptive robust control. The operation efficiency of the system is improved by distinguishing the differences between parametric and non-parametric uncertainties. Furthermore, the transient performance of adaptive control is optimized by the adaptive robust control and the measurements of uncertainties bounds are avoided, this strengthened the applicability of the controller. The uniformly ultimately bounded of closed-loop control system is proved by the Lyapunov theory. Simulations show that the adversely impacts of complex system uncertainties can be eliminated effectively and the high-precision trajectory tracking is guaranteed. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/AMC.2014.6823335 | AMC |
Keywords | Field | DocType |
lyapunov methods,adaptive control,closed loop systems,mobile robots,robot dynamics,robot kinematics,robust control,torque control,trajectory control,uncertain systems,wheels,lyapunov theory,adaptive robust control,closed-loop system,complex system uncertainties,dynamic uncertainties,kinematic uncertainties,nonholonomic wheeled mobile robot,nonparametric uncertainties,parametric uncertainty estimation,torque controller,trajectory tracking,transient performance optimization,nonholonomic system,wheeled mobile robot,uncertainty,mobile communication,control systems | Lyapunov function,Control theory,Control theory,Computer science,Control engineering,Parametric statistics,Adaptive control,Control system,Nonholonomic system,Robust control,Mobile robot | Conference |
ISSN | Citations | PageRank |
1943-6572 | 1 | 0.35 |
References | Authors | |
9 | 2 | |