Robust control for a wheeled mobile robot to track a predefined trajectory in the presence of unknown wheel slips Article Swipe
Kiem Nguyentien
,
Linh Le
,
Tuan Do
,
Tinh Nguyen
,
Minhtuan Pham
·
YOU?
·
· 2018
· Open Access
·
· DOI: https://doi.org/10.15625/0866-7136/10564
YOU?
·
· 2018
· Open Access
·
· DOI: https://doi.org/10.15625/0866-7136/10564
In this paper, a robust controller for a nonholonomic wheeled mobile robot (WMR) is proposed for tracking a predefined trajectory in the presence of unknown wheel slips, bounded external disturbances, and model uncertainties. The whole control system consists of two closed loops. Specifically, the outer one is employed to control the kinematics, and the inner one is used to control the dynamics. The output of kinematic controller is adopted as the input of the inner (dynamic) closed loop. Furthermore, two robust techniques were utilized to assure the robustness. In particular, one is used in the kinematic controller to compensate the harmful effects of the unknown wheel slips, and the other is used in the dynamic controller to overcome the model uncertainties and bounded external disturbances. Thanks to this proposed controller, a desired tracking performance in which tracking errors converge asymptotically to zero is obtained. According to Lyapunov theory and LaSalle extension, the desired tracking performance is guaranteed to be achieved. The results of computer simulation have shown the validity and efficiency of the proposed controller.
Related Topics
Concepts
Control theory (sociology)
Kinematics
Robustness (evolution)
Nonholonomic system
Mobile robot
Bounded function
Trajectory
Controller (irrigation)
Lyapunov function
Control engineering
Computer science
Engineering
Robot
Mathematics
Control (management)
Artificial intelligence
Nonlinear system
Physics
Chemistry
Agronomy
Mathematical analysis
Biology
Gene
Astronomy
Classical mechanics
Biochemistry
Quantum mechanics
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.15625/0866-7136/10564
- http://vjs.ac.vn/index.php/vjmech/article/download/10564/pdf
- OA Status
- hybrid
- References
- 11
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4243167341
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4243167341Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.15625/0866-7136/10564Digital Object Identifier
- Title
-
Robust control for a wheeled mobile robot to track a predefined trajectory in the presence of unknown wheel slipsWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2018Year of publication
- Publication date
-
2018-03-20Full publication date if available
- Authors
-
Kiem Nguyentien, Linh Le, Tuan Do, Tinh Nguyen, Minhtuan PhamList of authors in order
- Landing page
-
https://doi.org/10.15625/0866-7136/10564Publisher landing page
- PDF URL
-
https://vjs.ac.vn/index.php/vjmech/article/download/10564/pdfDirect link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
hybridOpen access status per OpenAlex
- OA URL
-
https://vjs.ac.vn/index.php/vjmech/article/download/10564/pdfDirect OA link when available
- Concepts
-
Control theory (sociology), Kinematics, Robustness (evolution), Nonholonomic system, Mobile robot, Bounded function, Trajectory, Controller (irrigation), Lyapunov function, Control engineering, Computer science, Engineering, Robot, Mathematics, Control (management), Artificial intelligence, Nonlinear system, Physics, Chemistry, Agronomy, Mathematical analysis, Biology, Gene, Astronomy, Classical mechanics, Biochemistry, Quantum mechanicsTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
0Total citation count in OpenAlex
- References (count)
-
11Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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