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.
Bibliographical noteFunding Information:
Manuscript received August 21, 2008; revised March 09, 2009 and August 11, 2009; accepted September 18, 2009. Manuscript received in final form October 09, 2009. First published November 10, 2009; current version published August 25, 2010. Recommended by Associate Editor L. Villani. This work was supported in part by the Brain Korea 21 in 2009 and by the Korea Research Foundation (KRF) Grant 2009-0073583 funded by the Korea Government (MEST).
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Electrical and Electronic Engineering