Hostname: page-component-586b7cd67f-t8hqh Total loading time: 0 Render date: 2024-11-20T18:31:25.908Z Has data issue: false hasContentIssue false
  • English
  • Français

Adaptive trajectory tracking control of a differential drive wheeled mobile robot

Published online by Cambridge University Press:  03 June 2010

Khoshnam Shojaei ,
Alireza Mohammad Shahri ,
Ahmadreza Tarakameh  and
Behzad Tabibian
Khoshnam Shojaei*
Affiliation:
Mechatronics and Robotics Research Laboratory, Electronic Research Center, Electrical Engineering Department, Iran University of Science and Technology, Tehran, Iran Emails: [email protected], [email protected], [email protected]
Alireza Mohammad Shahri
Affiliation:
Mechatronics and Robotics Research Laboratory, Electronic Research Center, Electrical Engineering Department, Iran University of Science and Technology, Tehran, Iran Emails: [email protected], [email protected], [email protected]
Ahmadreza Tarakameh
Affiliation:
Mechatronics and Robotics Research Laboratory, Electronic Research Center, Electrical Engineering Department, Iran University of Science and Technology, Tehran, Iran Emails: [email protected], [email protected], [email protected]
Behzad Tabibian
Affiliation:
Computer Engineering Department, Iran University of Science and Technology, Tehran, Iran
*
*Corresponding author. Emails: [email protected], [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

This paper presents an adaptive trajectory tracking controller for a non-holonomic wheeled mobile robot (WMR) in the presence of parametric uncertainty in the kinematic and dynamic models of the WMR and actuator dynamics. The adaptive non-linear control law is designed based on input–output feedback linearization technique to get asymptotically exact cancellation for the uncertainty in the given system parameters. In order to evaluate the performance of the proposed controller, a non-adaptive controller is compared with the adaptive controller via computer simulation results. The results show satisfactory trajectory tracking performance by virtue of SPR-Lyapunov design approach. In order to verify the simulation results, a set of experiments have been carried out on a commercial mobile robot. The experimental results also show the effectiveness of the proposed controller.

Keywords

Adaptive feedback linearizationParametric uncertaintyTrajectory trackingNon-holonomic WMR
Type
Article
Information
Robotica , Volume 29 , Issue 3 , May 2011 , pp. 391 - 402
Copyright
Copyright © Cambridge University Press 2010

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Campion, G., Bastin, G. and Andrea-Novel, B. D., “Structural properties and classification of kinematic and dynamic models of wheeled mobile robots,” IEEE Trans. Robot. Autom. 12 (1), 47–62 (1996).CrossRefGoogle Scholar
2.Sarkar, N., Yun, X. and Kumar, V., “Control of mechanical systems with rolling constraint: Application to dynamic control of mobile robots,” Int. J. Robot. Res. 13 (1), 55–69 (1994).CrossRefGoogle Scholar
3.Coelho, P. and Nunes, U., “Path-following control of mobile robots in presence of uncertainties,” IEEE Trans. Robot. 21 (2), 252–261 (Apr. 2005).CrossRefGoogle Scholar
4.Samson, C., “Control of chained systems application to path following and time-varying point-stabilization of mobile robots,” IEEE Trans. Autom. Control (1), 64–77 (1997).CrossRefGoogle Scholar
5.McCloskey, R. and Murray, R., “Exponential stabilization of driftless nonlinear control systems using homogeneous feedback,” IEEE Trans. Autom. Control 42, 614–628 (1997).CrossRefGoogle Scholar
6.Coelho, P. and Nunes, U., “Lie algebra application to mobile robot control: A tutorial,” Robotica 21 (5), 483–493 (2003).CrossRefGoogle Scholar
7.Aguiar, J. P. P., “Trajectory-tracking and path-following of underactuated autonomous vehicles with parametric modeling uncertainty,” IEEE Trans. Autom. Control 52 (8), 1362–1379 (2007).CrossRefGoogle Scholar
8.Kolmanovsky, I. and McClamroch, H., “Developments in nonholonomic control problems,” IEEE Control Syst. Mag. 20–36 (Dec. 1995).CrossRefGoogle Scholar
9.Sastry, S. S. and Isidori, A., “Adaptive control of linearizable systems,” IEEE Trans. Autom. Control AC-34, 1123–1131 (1989).CrossRefGoogle Scholar
10.de Wit, C. C. and Khennouf, H., “Quasi-Continuous Stabilizing Controllers for Nonholonomic Systems: Design and Robustness Considerations,” Proceedings of the 3rd European Control Conference, Rome, Italy (1995) pp. 2630–2635.Google Scholar
11.Yamamoto, Y. and Yun, X., “Coordinating locomotion and manipulation of a mobile manipulator,” Recent Trends Mobile Robots, World Sci. Ser. Robot. Autom. Syst. 11, 157–181 (1993).CrossRefGoogle Scholar
12.Yun, X., Kumar, V., Sarkar, N. and Paljug, E., “Control of Multiple Arms With Rolling Constraints,” Proceedings of the International Conference on Robotics and Automation, Proceedings of the International Conference on Robotics and Automation, Nice, France (1992) pp. 2193–2198.Google Scholar
13.Andrea-Novel, B. D., Bastin, G. and Campion, G., “Dynamic Feedback Linearization of Nonholonomic Wheeled Mobile Robots,” Proceedings of the International Conference on Robotics and Automation, Nice, France (1992) pp. 2527–2532.Google Scholar
14.Oriolo, G., De Luca, A. and Vendittelli, M. “WMR control via dynamic feedback linearization: Design, lmplementation, and experimental validation,” IEEE Trans. Control Syst. Technol. 10 (6), 835–852 (2002).CrossRefGoogle Scholar
15.Dixon, W. E. and Dawson, D. M., “Tracking and regulation control of a mobile robot system with kinematic disturbances: A variable structure-like approach,” Trans. ASME, J. Dyn. Syst. Meas. Control 616–623 (2000).Google Scholar
16.Kim, D-H. and Oh, J-H, “Tracking control of a two-wheeled mobile robot using input-output linearization,” J. Control Eng. Pract. 7, 369–373 (1999).CrossRefGoogle Scholar
17.Fukao, T., Nakagawa, H. and Adachi, N. “Trajectory tracking control of a nonholonomic mobile robot,” IEEE Trans. Robot. Autom. 16 (5), 609–615 (2000).CrossRefGoogle Scholar
18.Oya, M. and Chun-Yi Su Katoh, R. “Robust adaptive motion/force tracking control of uncertain nonholonomic mechanical systems,” IEEE Trans. Robot. Autom. 19 (1), 175–181 (2003).CrossRefGoogle Scholar
19.Adetola, V. and Guay, M., “Finite-time parameter estimation in adaptive control of nonlinear systems,” IEEE Trans. Autom. Control 53 (3), 807–811 (2008).CrossRefGoogle Scholar
20.Dong, W. and Kuhnert, K.-D., “Robust adaptive control of nonholonomic mobile robot with parameter and nonparameter uncertainties,” IEEE Tans. Robot. 21 (2), 261–266 (2005).CrossRefGoogle Scholar
21.Xie, Zhaoxian, Ming, Aiguo and Li, Zhijun, “Adaptive Robust Trajectory and Force Tracking Control of Constrained Mobile Manipulators,” Proceedings of the International Conference on Mechatronics and Automation, IEEE, Harbin, China (2007) pp. 1351–1355.Google Scholar
22.Sastry, S. S. and Bodson, M., Adaptive Control: Stability, Convergence and Robustness (Prentice-Hall, Englewood Cliffs, NJ, 1989).Google Scholar
23.Ioannou, P. A. and Sun, J., Robust Adaptive Control (Prentice-Hall, Englewood Cliffs, NJ, 1996).Google Scholar
24.Campion, G., d'Andrea-Novel, B. and Bastin, G., “Controllability and State Feedback Stabilization of Nonholonomic Mechanical Systems,” In: Lecture Notes in Control and Information Science (de Wit, C. Canudas, ed.) (Springer-Verlag, New York, 1991), vol. 162, pp. 106–124.Google Scholar
25.Yun, X. and Yamamoto, Y., “Stability analysis of the internal dynamics of a wheeled mobile robot,” J. Robot. Syst. 14 (10), 697–709 (1997).3.0.CO;2-P>CrossRefGoogle Scholar
26.Craig, J., Hsu, P. and Sastry, S., “Adaptive control of mechanical manipulators,” Int. J. Robot. Res. 6 (1987).CrossRefGoogle Scholar
27.Martins, F. N., Celeste, W. C., Carelli, R., S-Filho, M. and Filho, T. F. B-, “An adaptive dynamic controller for autonomous mobile robot trajectory tracking,” J. Control Eng. Pract. 16, 1354–1363 (2008).CrossRefGoogle Scholar
28.Pourboghrat, F. and Karlsson, M. P. “Adaptive cntrol of dynamic mobile robots with nonholonomic constraints,” J. Comput. Electr. Eng. 28, 241–253 (2002).CrossRefGoogle Scholar
29.Martins, F. N. et al. “Dynamic Modelling and Adaptive Dynamic Compensation for Unicycle-Like Mobile Robots,” Proceedings of the International Conference on Adavanced Robotics, IEEE, Munich, (2009) pp. 1–6.Google Scholar
30.Das, T., Kar, I. N. and Chaudhury, S., “Simple neuron-based adaptive controller for a nonholonomic mobile robot including actuator dynamics,” J. Neurocomput. 69, 2140–2151 (2006).CrossRefGoogle Scholar
31.De La Cruz, C. and Carelli, R., “Dynamic Modeling and Centralized Formation Control of Mobile Robots,” Proceedings of thirty-second annual conference of the IEEE industrial electronics society, IECON, Paris (2006) pp. 3880–3885.Google Scholar