Dynamic adaptive trajectory tracking control of nonholonomic mobile robots using multiple models approach

Autor: Altan Onat, Metin Ozkan
Přispěvatelé: Anadolu Üniversitesi, Mühendislik Fakültesi, Elektrik ve Elektronik Mühendisliği Bölümü
Rok vydání: 2015
Předmět:
Zdroj: Advanced Robotics. 29:913-928
ISSN: 1568-5535
0169-1864
0003-7206
DOI: 10.1080/01691864.2015.1014836
Popis: WOS: 000372065800002
This paper presents an approach for the trajectory tracking control of nonholonomic wheeled mobile robots (WMR) by combining one of the existing adaptive control methods and multiple identification models. The overall system includes two types of controllers in the control scheme. A kinematic controller developed by using kinematic model produces the required linear and angular velocities of the robot for tracking a reference trajectory. These required velocities are used to calculate the torques using an adaptive dynamic controller with multiple models. The proposed method uses the multiple models of the WMR for the identification of the dynamic parameters and performs switching between the given models. The models used in the identification are identical, except for the initial estimates of the parameters. By using an adaptive dynamic controller with multiple models of theWMR, enhancement in transient response is obtained. Stability analysis of the overall system is given, and simulation results are presented to demonstrate the effective performance of the adaptive control by using multiple models approach.
Databáze: OpenAIRE
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