In the present research, the control of non-holonomic wheeled mobile robots in tracking a desired trajectory, when they are exposed to disturbances, unmodeled dynamics and uncertainties has been carried out. In section 1, given the existence of a term under the title of" Disturbance and unmodeled dynamics in robot model", a controller is designed to be resistant against the disturbance in robot models. Then by supposing the lack of information about the dynamic model matrices of robot, a sliding-mode—control-based adaptive cruise controller is designed in such a way that leads the robot to track a predetermined desired trajectory without using the values of the system matrices. Combining two robust and adaptive controllers and creating an adaptive controller resistant to disturbances in the system was the next achievement of the article. Finally, in order to consider the condition of operator saturation, the adaptive control law is designed such that given the uncertainty in robot dynamics and also the limitation in the input torque, the mobile robot continues to track a predetermined desired trajectory. The results of the numerical simulation support the validity of the proposed control methods.
ADAPTIVE CONTROL OF THE WHEELED MOBILE ROBOTS' DYNAMIC MODEL WITH REGARD TO THE LIMITATION OF INPUT TORQUES
2017-10-21
Quid Magazine; No 1 (2017): Special Issue; 1167-1174 ; Revista QUID; Núm. 1 (2017): Special Issue; 1167-1174 ; 2462-9006 ; 1692-343X
Article (Journal)
Electronic Resource
English
DDC: | 629 |
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