A simple adaptive control approach for trajectory tracking of electrically driven nonholonomic mobile robots

Bong Seok Park, Sung Jin Yoo, Jin Bae Park, Yoon Ho Choi

Research output: Contribution to journalArticle

152 Citations (Scopus)

Abstract

Almost all existing controllers for nonholonomic mobile robots are designed without considering the actuator dynamics. This is because the presence of the actuator dynamics increases the complexity of the system dynamics, and makes difficult the design of the controller. In this paper, we propose a simple adaptive control approach for path tracking of uncertain nonholonomic mobile robots incorporating actuator dynamics. All parameters of robot kinematics, robot dynamics, and actuator dynamics are assumed to be uncertain. For the simple controller design, the dynamic surface control methodology is applied and extended to mobile robots that the number of inputs and outputs is different. We also adopt the adaptive control technique to treat all uncertainties and derive adaptation laws from the Lyapunov stability theory. Finally, simulation results demonstrate the effectiveness of the proposed controller.

Original languageEnglish
Article number5325660
Pages (from-to)1199-1206
Number of pages8
JournalIEEE Transactions on Control Systems Technology
Volume18
Issue number5
DOIs
Publication statusPublished - 2010 Sep 1

Fingerprint

Mobile robots
Trajectories
Actuators
Controllers
Robots
Control surfaces
Dynamical systems
Kinematics

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

@article{44e6702a608240a0ba2ff97471c78c6e,
title = "A simple adaptive control approach for trajectory tracking of electrically driven nonholonomic mobile robots",
abstract = "Almost all existing controllers for nonholonomic mobile robots are designed without considering the actuator dynamics. This is because the presence of the actuator dynamics increases the complexity of the system dynamics, and makes difficult the design of the controller. In this paper, we propose a simple adaptive control approach for path tracking of uncertain nonholonomic mobile robots incorporating actuator dynamics. All parameters of robot kinematics, robot dynamics, and actuator dynamics are assumed to be uncertain. For the simple controller design, the dynamic surface control methodology is applied and extended to mobile robots that the number of inputs and outputs is different. We also adopt the adaptive control technique to treat all uncertainties and derive adaptation laws from the Lyapunov stability theory. Finally, simulation results demonstrate the effectiveness of the proposed controller.",
author = "Park, {Bong Seok} and Yoo, {Sung Jin} and Park, {Jin Bae} and Choi, {Yoon Ho}",
year = "2010",
month = "9",
day = "1",
doi = "10.1109/TCST.2009.2034639",
language = "English",
volume = "18",
pages = "1199--1206",
journal = "IEEE Transactions on Control Systems Technology",
issn = "1063-6536",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "5",

}

A simple adaptive control approach for trajectory tracking of electrically driven nonholonomic mobile robots. / Park, Bong Seok; Yoo, Sung Jin; Park, Jin Bae; Choi, Yoon Ho.

In: IEEE Transactions on Control Systems Technology, Vol. 18, No. 5, 5325660, 01.09.2010, p. 1199-1206.

Research output: Contribution to journalArticle

TY - JOUR

T1 - A simple adaptive control approach for trajectory tracking of electrically driven nonholonomic mobile robots

AU - Park, Bong Seok

AU - Yoo, Sung Jin

AU - Park, Jin Bae

AU - Choi, Yoon Ho

PY - 2010/9/1

Y1 - 2010/9/1

N2 - Almost all existing controllers for nonholonomic mobile robots are designed without considering the actuator dynamics. This is because the presence of the actuator dynamics increases the complexity of the system dynamics, and makes difficult the design of the controller. In this paper, we propose a simple adaptive control approach for path tracking of uncertain nonholonomic mobile robots incorporating actuator dynamics. All parameters of robot kinematics, robot dynamics, and actuator dynamics are assumed to be uncertain. For the simple controller design, the dynamic surface control methodology is applied and extended to mobile robots that the number of inputs and outputs is different. We also adopt the adaptive control technique to treat all uncertainties and derive adaptation laws from the Lyapunov stability theory. Finally, simulation results demonstrate the effectiveness of the proposed controller.

AB - Almost all existing controllers for nonholonomic mobile robots are designed without considering the actuator dynamics. This is because the presence of the actuator dynamics increases the complexity of the system dynamics, and makes difficult the design of the controller. In this paper, we propose a simple adaptive control approach for path tracking of uncertain nonholonomic mobile robots incorporating actuator dynamics. All parameters of robot kinematics, robot dynamics, and actuator dynamics are assumed to be uncertain. For the simple controller design, the dynamic surface control methodology is applied and extended to mobile robots that the number of inputs and outputs is different. We also adopt the adaptive control technique to treat all uncertainties and derive adaptation laws from the Lyapunov stability theory. Finally, simulation results demonstrate the effectiveness of the proposed controller.

UR - http://www.scopus.com/inward/record.url?scp=77956225881&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=77956225881&partnerID=8YFLogxK

U2 - 10.1109/TCST.2009.2034639

DO - 10.1109/TCST.2009.2034639

M3 - Article

AN - SCOPUS:77956225881

VL - 18

SP - 1199

EP - 1206

JO - IEEE Transactions on Control Systems Technology

JF - IEEE Transactions on Control Systems Technology

SN - 1063-6536

IS - 5

M1 - 5325660

ER -