Adaptive output feedback tracking control of a nonholonomic mobile robot

Jiangshuai Huang, Changyun Wen, Wei Wang, Zhong Ping Jiang

Research output: Contribution to journalArticle

Abstract

An adaptive output feedback tracking controller for nonholonomic mobile robots is proposed to guarantee that the tracking errors are confined to an arbitrarily small ball. The major difficulties are caused by simultaneous existence of nonholonomic constraints, unknown system parameters and a quadratic term of unmeasurable states in the mobile robot dynamic system as well as their couplings. To overcome these difficulties, we propose a new adaptive control scheme including designing a new adaptive state feedback controller and two high-gain observers to estimate the unknown linear and angular velocities respectively. It is shown that the closed loop adaptive system is stable and the tracking errors are guaranteed to be within the pre-specified bounds which can be arbitrarily small. Simulation results also verify the effectiveness of the proposed scheme.

Original languageEnglish (US)
Pages (from-to)821-831
Number of pages11
JournalAutomatica
Volume50
Issue number3
DOIs
StatePublished - Mar 2014

Keywords

  • Adaptive output feedback
  • High-gain observer
  • Nonholonomic mobile robots

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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