IEICE TRANSACTIONS on Fundamentals
Adaptive Tracking Control of Nonholonomic Mobile Robots by Computed Torque
Summary :
A computed torque controller for a dynamic model of nonholonomic mobile robots with bounded external disturbance is proposed to treat the adaptive tracking control problem using the separated design method. A velocity controller is first designed for the kinematic steering system to make the tracking error approaching to zero asympotically. Then, a computed torque controller is designed such that the true mobile robot velocity converges to the desired velocity controller. In each step, the controllers are designed independently, and this will simplify the design of controllers. A novel stability analysis involving the estimation of some differential inequalities is also given to guarantee the stability of the closed-loop system. Moreover, the regulation problem and the tracking problem will be treated using the proposed controller. In particular, the mobile robots can globally follow any path such as a straight-line, a circle and the path approaching to the origin. Furthermore, the problems of back-into-garage parking and the parallel parking problem can also be solved using the proposed controller. Some interesting simulation results are given to illustrate the effectiveness of the proposed tracking control law.
- Publication
- IEICE TRANSACTIONS on Fundamentals Vol.E86-A No.7 pp.1766-1777
- Publication Date
- 2003/07/01
- Publicized
- Online ISSN
- DOI
- Type of Manuscript
- PAPER
- Category
- Systems and Control
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Ti-Chung LEE, Ching-Hung LEE, Ching-Cheng TENG, "Adaptive Tracking Control of Nonholonomic Mobile Robots by Computed Torque" in IEICE TRANSACTIONS on Fundamentals,
vol. E86-A, no. 7, pp. 1766-1777, July 2003, doi: .
Abstract: A computed torque controller for a dynamic model of nonholonomic mobile robots with bounded external disturbance is proposed to treat the adaptive tracking control problem using the separated design method. A velocity controller is first designed for the kinematic steering system to make the tracking error approaching to zero asympotically. Then, a computed torque controller is designed such that the true mobile robot velocity converges to the desired velocity controller. In each step, the controllers are designed independently, and this will simplify the design of controllers. A novel stability analysis involving the estimation of some differential inequalities is also given to guarantee the stability of the closed-loop system. Moreover, the regulation problem and the tracking problem will be treated using the proposed controller. In particular, the mobile robots can globally follow any path such as a straight-line, a circle and the path approaching to the origin. Furthermore, the problems of back-into-garage parking and the parallel parking problem can also be solved using the proposed controller. Some interesting simulation results are given to illustrate the effectiveness of the proposed tracking control law.
URL: https://global.ieice.org/en_transactions/fundamentals/10.1587/e86-a_7_1766/_p
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@ARTICLE{e86-a_7_1766,
author={Ti-Chung LEE, Ching-Hung LEE, Ching-Cheng TENG, },
journal={IEICE TRANSACTIONS on Fundamentals},
title={Adaptive Tracking Control of Nonholonomic Mobile Robots by Computed Torque},
year={2003},
volume={E86-A},
number={7},
pages={1766-1777},
abstract={A computed torque controller for a dynamic model of nonholonomic mobile robots with bounded external disturbance is proposed to treat the adaptive tracking control problem using the separated design method. A velocity controller is first designed for the kinematic steering system to make the tracking error approaching to zero asympotically. Then, a computed torque controller is designed such that the true mobile robot velocity converges to the desired velocity controller. In each step, the controllers are designed independently, and this will simplify the design of controllers. A novel stability analysis involving the estimation of some differential inequalities is also given to guarantee the stability of the closed-loop system. Moreover, the regulation problem and the tracking problem will be treated using the proposed controller. In particular, the mobile robots can globally follow any path such as a straight-line, a circle and the path approaching to the origin. Furthermore, the problems of back-into-garage parking and the parallel parking problem can also be solved using the proposed controller. Some interesting simulation results are given to illustrate the effectiveness of the proposed tracking control law.},
keywords={},
doi={},
ISSN={},
month={July},}
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TY - JOUR
TI - Adaptive Tracking Control of Nonholonomic Mobile Robots by Computed Torque
T2 - IEICE TRANSACTIONS on Fundamentals
SP - 1766
EP - 1777
AU - Ti-Chung LEE
AU - Ching-Hung LEE
AU - Ching-Cheng TENG
PY - 2003
DO -
JO - IEICE TRANSACTIONS on Fundamentals
SN -
VL - E86-A
IS - 7
JA - IEICE TRANSACTIONS on Fundamentals
Y1 - July 2003
AB - A computed torque controller for a dynamic model of nonholonomic mobile robots with bounded external disturbance is proposed to treat the adaptive tracking control problem using the separated design method. A velocity controller is first designed for the kinematic steering system to make the tracking error approaching to zero asympotically. Then, a computed torque controller is designed such that the true mobile robot velocity converges to the desired velocity controller. In each step, the controllers are designed independently, and this will simplify the design of controllers. A novel stability analysis involving the estimation of some differential inequalities is also given to guarantee the stability of the closed-loop system. Moreover, the regulation problem and the tracking problem will be treated using the proposed controller. In particular, the mobile robots can globally follow any path such as a straight-line, a circle and the path approaching to the origin. Furthermore, the problems of back-into-garage parking and the parallel parking problem can also be solved using the proposed controller. Some interesting simulation results are given to illustrate the effectiveness of the proposed tracking control law.
ER -
English
