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Adaptive tracking control of high-order non-holonomic mobile robot systems

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1 Author(s)
J. -T. Huang ; Institute of Digital Mechatronic Technology, Chinese Culture University, Taiwan E-mail: hzz4@faculty.pccu.edu.tw

A backstepping-based tracking control design for uncertain mobile robot systems with non-holonomic constraints is presented. For avoiding the singularity and the necessity of the repeated differentiation of the virtual controller, high-degree polynomials of the affine functions are generally included in many existing kinematic controllers. That unfortunately would cause the possible blowup of the actuators for high-order kinematic systems (e.g. a trailer-type mobile robot) in high-speed motions. Regarding this, an exponentially modulated linear stabilising function is included in this design to alleviate such a difficulty. Next at the dynamic design level, an adaptive control algorithm is developed for attaining the global asymptotic tracking stability of the overall closed-loop system. Two case studies of a unicycle-like and a trailer-type wheeled mobile robots are conducted in the final to demonstrate the effectiveness of the proposed design.

Published in:

IET Control Theory & Applications  (Volume:3 ,  Issue: 6 )