Adaptive Tracking and Obstacle Avoidance Control for Mobile Robots with Unknown Sliding
An adaptive control approach is proposed for trajectory tracking and obstacle avoidance for mobile robots with consideration given to unknown sliding. A kinematic model of mobile robots is established in this paper, in which both longitudinal and lateral sliding are considered and processed as three...
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2012-11-01
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Series: | International Journal of Advanced Robotic Systems |
Online Access: | https://doi.org/10.5772/52077 |
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doaj-114ab5e03b3e41f7a79f5721eb76163a2020-11-25T03:24:36ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142012-11-01910.5772/5207710.5772_52077Adaptive Tracking and Obstacle Avoidance Control for Mobile Robots with Unknown SlidingMingyue Cui0Dihua Sun1Weining Liu2Min Zhao3Xiaoyong Liao4 College of Automation, Chongqing University, Chongqing, China Key Laboratory of Dependable Service Computing in Cyber Physical Society of Ministry of Education, Chongqing, China Key Laboratory of Dependable Service Computing in Cyber Physical Society of Ministry of Education, Chongqing, China College of Automation, Chongqing University, Chongqing, China College of Automation, Chongqing University, Chongqing, ChinaAn adaptive control approach is proposed for trajectory tracking and obstacle avoidance for mobile robots with consideration given to unknown sliding. A kinematic model of mobile robots is established in this paper, in which both longitudinal and lateral sliding are considered and processed as three time-varying parameters. A sliding model observer is introduced to estimate the sliding parameters online. A stable tracking control law for this nonholonomic system is proposed to compensate the unknown sliding effect. From Lyapunov-stability analysis, it is proved, regardless of unknown sliding, that tracking errors of the controlled closed-loop system are asymptotically stable, the tracking errors converge to zero outside the obstacle detection region and obstacle avoidance is guaranteed inside the obstacle detection region. The efficiency and robustness of the proposed control system are verified by simulation results.https://doi.org/10.5772/52077 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Mingyue Cui Dihua Sun Weining Liu Min Zhao Xiaoyong Liao |
spellingShingle |
Mingyue Cui Dihua Sun Weining Liu Min Zhao Xiaoyong Liao Adaptive Tracking and Obstacle Avoidance Control for Mobile Robots with Unknown Sliding International Journal of Advanced Robotic Systems |
author_facet |
Mingyue Cui Dihua Sun Weining Liu Min Zhao Xiaoyong Liao |
author_sort |
Mingyue Cui |
title |
Adaptive Tracking and Obstacle Avoidance Control for Mobile Robots with Unknown Sliding |
title_short |
Adaptive Tracking and Obstacle Avoidance Control for Mobile Robots with Unknown Sliding |
title_full |
Adaptive Tracking and Obstacle Avoidance Control for Mobile Robots with Unknown Sliding |
title_fullStr |
Adaptive Tracking and Obstacle Avoidance Control for Mobile Robots with Unknown Sliding |
title_full_unstemmed |
Adaptive Tracking and Obstacle Avoidance Control for Mobile Robots with Unknown Sliding |
title_sort |
adaptive tracking and obstacle avoidance control for mobile robots with unknown sliding |
publisher |
SAGE Publishing |
series |
International Journal of Advanced Robotic Systems |
issn |
1729-8814 |
publishDate |
2012-11-01 |
description |
An adaptive control approach is proposed for trajectory tracking and obstacle avoidance for mobile robots with consideration given to unknown sliding. A kinematic model of mobile robots is established in this paper, in which both longitudinal and lateral sliding are considered and processed as three time-varying parameters. A sliding model observer is introduced to estimate the sliding parameters online. A stable tracking control law for this nonholonomic system is proposed to compensate the unknown sliding effect. From Lyapunov-stability analysis, it is proved, regardless of unknown sliding, that tracking errors of the controlled closed-loop system are asymptotically stable, the tracking errors converge to zero outside the obstacle detection region and obstacle avoidance is guaranteed inside the obstacle detection region. The efficiency and robustness of the proposed control system are verified by simulation results. |
url |
https://doi.org/10.5772/52077 |
work_keys_str_mv |
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1724601301023588352 |