TY - JOUR
T1 - Adaptive stabilization and tracking control of a nonholonomic mobile robot with input saturation and disturbance
AU - Huang, Jiangshuai
AU - Wen, Changyun
AU - Wang, Wei
AU - Jiang, Zhong Ping
N1 - Funding Information:
The authors would like to thank the Editor, the Associate Editor and the reviewers for their helpful comments. This work is partly supported by National Natural Science Foundation of China under Grant No. 61203068 .
PY - 2013
Y1 - 2013
N2 - In this paper, we deal with the problem of global tracking and stabilization control of internally damped mobile robots with unknown parameters, and subject to input torque saturation and external disturbances. To overcome the difficulties due to these factors, a new adaptive scheme is proposed to ensure the bounds of the control torques as functions of only design parameters and reference trajectories and thus computable in advance. Then suitable design parameters are determined so that such bounds are within the given saturation limits. To compensate for the disturbances, we estimate their unknown bounds and employ the estimates in controller design. System stability, perfect tracking and stabilization to the origin are established. Simulation studies conducted also verify the effectiveness of the proposed scheme.
AB - In this paper, we deal with the problem of global tracking and stabilization control of internally damped mobile robots with unknown parameters, and subject to input torque saturation and external disturbances. To overcome the difficulties due to these factors, a new adaptive scheme is proposed to ensure the bounds of the control torques as functions of only design parameters and reference trajectories and thus computable in advance. Then suitable design parameters are determined so that such bounds are within the given saturation limits. To compensate for the disturbances, we estimate their unknown bounds and employ the estimates in controller design. System stability, perfect tracking and stabilization to the origin are established. Simulation studies conducted also verify the effectiveness of the proposed scheme.
KW - Input saturation
KW - Nonholonomic mobile robot
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U2 - 10.1016/j.sysconle.2012.11.020
DO - 10.1016/j.sysconle.2012.11.020
M3 - Article
AN - SCOPUS:84872417162
SN - 0167-6911
VL - 62
SP - 234
EP - 241
JO - Systems and Control Letters
JF - Systems and Control Letters
IS - 3
ER -