In this paper, an adaptive observer-based trajectory tracking problem is solved for nonholonomic mobile robots with uncertainties. An adaptive observer is first developed to estimate the unmeasured velocities of a mobile robot with model uncertainties. Using the designed observer and the backstepping technique, a trajectory tracking controller is designed to generate the torque as an input. Using Lyapunov stability analysis, we prove that the closed-loop system is asymptotically stable with respect to the estimation errors and tracking errors. Finally, the simulation results are presented to validate the performance and robustness of the proposed control system against uncertainties.
|Number of pages||8|
|Journal||International Journal of Control, Automation and Systems|
|Publication status||Published - 2011 Jun|
Bibliographical noteFunding Information:
__________ Manuscript received March 14, 2009; revised April 9, 2010 and August 19, 2010; accepted January 3, 2011. Recommended by Editor Jae-Bok Song. This work was supported in part by the Brain Korea 21 in 2010 and by the Human Resources Development Program of the Korea Institute of Energy Technology Evaluation and Planning (KETEP) grant funded by the Korea Government Ministry of Knowledge Economy. (No. 2007-P-EP-HM-E-08-0000).
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Computer Science Applications