Abstract
This paper presents an adaptive tracking control scheme for asymmetrically actuated wheeled mobile robot (WMR) with uncertain/unknown mass center. First, we establish the WMR dynamic model with consideration of the fact that its center of mass is normally unknown or even shifting due to dynamic loading and/or load shifting. Second, a structurally simple controller is developed to deal with time-varying unknown control gain and parametric/non-parametric uncertainties of WMR, where the asymmetric and non-smooth input saturation with no a prior knowledge of bounds of input saturation is addressed.
Keywords
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsReferences
Park, B.S., Yoo, S.J., Park, J.B.: Adaptive neural sliding mode control of nonholonomic wheeled mobile robots with model uncertainty. IEEE Trans. Control Syst. Tecnol. 17, 207–214 (2009)
Ferrara, A., Rubagotti, M.: Second-order sliding-mode control of a mobile robot based on a harmonic potential field. IET Control Theory Appl. 2, 807–818 (2008)
Wu, J.B., Xu, G.H., Yin, Z.P.: Robust adaptive control for a nonholonomic mobile robot with unknown parameters. J. Control Theory Appl. 7, 212–218 (2009)
Wang, C.C.: A novel variable structure theory applied in design for wheeled mobile robots. IEEE Trans. Control Syst. Tecnol. 16, 378–382 (2011)
Hwang, C.L., Wu, H.M.: Trajectory tracking of a mobile robot with frictions and uncertainties using hierarchical sliding-mode under-actuated control. IET Control Theory Appl. 7, 952–965 (2013)
Hou, Z.G., Zou, A.M., Cheng, L., Tan, M.: Adaptive control of an electrically driven nonholonomic mobile robot via backstepping and fuzzy approach. IEEE Trans. Control Syst. Tecnol. 17, 803–815 (2009)
Xin, L.J., Wang, Q.L., She, J.H.: Robust adaptive tracking control of wheeled robot. Robot. Auto Syst. 78, 36–48 (2016)
Shojaei, K.: Saturated ouput feedback control of uncertain nonholonomic wheeled mobile robots. Robotica 33, 87–105 (2015)
Park, B.S., Yoo, S.J., Park, J.B.: A simple adaptive control approach for tracjectory tracking of electrically driven nonholonomic mobile robots. IEEE Trans. Control Syst. Tecnol. 18, 1199–1206 (2010)
Fierro, R., Lewis, F.L.: Control of a nonholonomic mobile robot using neural networks. IEEE Trans. Neural Netw. 9, 589–600 (1998)
Huang, J.S., Wen, C.Y., Wang, W.: Adaptive stabilization and tracking control of a nonholonomic mobile robot with input saturation and disturbance. Syst. Control Lett. 62, 234–241 (2013)
Chen, H., Wang, C.L., Zhang, B.W.: Saturated tracking control for nonholonomic mobile robots with dynamic feedback. Trans. Inst. Meas. Control 35, 105–116 (2013)
Yoo, S.J.: Adaptive neural tracking and obstacle avoidance of uncertain mobile robots with unknown skidding and slipping. Inf. Sci. 238, 176–189 (2013)
Shojaei, K.A., Shahri, M., Tarakameh, A.: Adaptive trajectory tracking control of a differential drive wheeled mobile robot. Robotica 29, 391–402 (2011)
Yun, X.P., Yamamoto, Y.: Internal dynamics of a wheeled mobile robot. In: Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1288–1294. IEEE Press, Yokohama (1993)
Martins, F.N., Celeste, W.C., Carelli, R.: An adaptive dynamic controller for autonomous mobile robot tracjectory tracking. Control Eng. Pract. 16, 1354–1363 (2008)
Zhao, K., Song, Y.D., Wen, C.Y.: Computationally inexpensive fault tolerant control of uncertain non-linear systems with non-smooth asymmetric input saturation and undetectable actuation failures. IET Control Theory Appl. 10, 1866–1873 (2016)
Wen, C.Y., Zhou, J., Liu, Z.T.: Robust adaptive control of uncertain nonlinear systems in the presence of input saturation and external disturbance. IEEE Trans. Autom. Control 56, 1672–1678 (2011)
Sanner, R.M., Slotine, J.J.E.: Gaussian networks for direct adaptive control. IEEE Trans. Neural Netw. 3, 837–863 (1992)
Wang, Y.J., Song, Y.D., Lewis, F.L.: Robust adaptive fault-tolerant control of multiagent systems with uncertain nonidentical dynamics and undetectable actuation failures. IEEE Trans. Ind. Electron. 62, 3978–3988 (2015)
Acknowledgments
This work is supported in part by technology transformation program of Chongqing higher education university (KJZH17102), the National Natural Science Foundation of China (No. 51374264), and the China Scholarship Council (No. 201508505045).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
Shen, Z., Ma, Y., Song, Y. (2017). Neuro Adaptive Control of Asymmetrically Driven Mobile Robots with Uncertainties. In: Cong, F., Leung, A., Wei, Q. (eds) Advances in Neural Networks - ISNN 2017. ISNN 2017. Lecture Notes in Computer Science(), vol 10262. Springer, Cham. https://doi.org/10.1007/978-3-319-59081-3_14
Download citation
DOI: https://doi.org/10.1007/978-3-319-59081-3_14
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-59080-6
Online ISBN: 978-3-319-59081-3
eBook Packages: Computer ScienceComputer Science (R0)