Adaptive tracking control of nonholonomic mobile robots considering actuator dynamics: Dynamic surface design approach

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

doi:10.1109/ACC.2009.5159858

Adaptive tracking control of nonholonomic mobile robots considering actuator dynamics: Dynamic surface design approach

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

Department of Electrical and Electronic Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

14 Citations (Scopus)

Abstract

In this paper, we propose an adaptive tracking control of nonholonomic mobile robots considering 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 multi-input multioutput systems (i.e., mobile robots) that the number of inputs and outputs is different. From the Lyapunov stability theory, we derive adaptation laws and prove that all signals of a closedloop system are semi-globally uniformly ultimately bounded. Finally, we perform compute simulations to demonstrate the performance of the proposed controller.

Original language	English
Title of host publication	2009 American Control Conference, ACC 2009
Pages	3860-3865
Number of pages	6
DOIs	https://doi.org/10.1109/ACC.2009.5159858
Publication status	Published - 2009
Event	2009 American Control Conference, ACC 2009 - St. Louis, MO, United States Duration: 2009 Jun 10 → 2009 Jun 12

Publication series

Name	Proceedings of the American Control Conference
ISSN (Print)	0743-1619

Other

Other	2009 American Control Conference, ACC 2009
Country	United States
City	St. Louis, MO
Period	09/6/10 → 09/6/12

All Science Journal Classification (ASJC) codes

Electrical and Electronic Engineering

Access to Document

10.1109/ACC.2009.5159858

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title = "Adaptive tracking control of nonholonomic mobile robots considering actuator dynamics: Dynamic surface design approach",

abstract = "In this paper, we propose an adaptive tracking control of nonholonomic mobile robots considering 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 multi-input multioutput systems (i.e., mobile robots) that the number of inputs and outputs is different. From the Lyapunov stability theory, we derive adaptation laws and prove that all signals of a closedloop system are semi-globally uniformly ultimately bounded. Finally, we perform compute simulations to demonstrate the performance of the proposed controller.",

author = "Park, {Bong Seok} and Yoo, {Sung Jin} and Park, {Jin Bae} and Choi, {Yoon Ho}",

year = "2009",

doi = "10.1109/ACC.2009.5159858",

language = "English",

isbn = "9781424445240",

series = "Proceedings of the American Control Conference",

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booktitle = "2009 American Control Conference, ACC 2009",

note = "2009 American Control Conference, ACC 2009 ; Conference date: 10-06-2009 Through 12-06-2009",

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Park, BS, Yoo, SJ, Park, JB & Choi, YH 2009, Adaptive tracking control of nonholonomic mobile robots considering actuator dynamics: Dynamic surface design approach. in 2009 American Control Conference, ACC 2009., 5159858, Proceedings of the American Control Conference, pp. 3860-3865, 2009 American Control Conference, ACC 2009, St. Louis, MO, United States, 09/6/10. https://doi.org/10.1109/ACC.2009.5159858

Adaptive tracking control of nonholonomic mobile robots considering actuator dynamics : Dynamic surface design approach. / Park, Bong Seok; Yoo, Sung Jin; Park, Jin Bae; Choi, Yoon Ho.

2009 American Control Conference, ACC 2009. 2009. p. 3860-3865 5159858 (Proceedings of the American Control Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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N2 - In this paper, we propose an adaptive tracking control of nonholonomic mobile robots considering 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 multi-input multioutput systems (i.e., mobile robots) that the number of inputs and outputs is different. From the Lyapunov stability theory, we derive adaptation laws and prove that all signals of a closedloop system are semi-globally uniformly ultimately bounded. Finally, we perform compute simulations to demonstrate the performance of the proposed controller.

AB - In this paper, we propose an adaptive tracking control of nonholonomic mobile robots considering 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 multi-input multioutput systems (i.e., mobile robots) that the number of inputs and outputs is different. From the Lyapunov stability theory, we derive adaptation laws and prove that all signals of a closedloop system are semi-globally uniformly ultimately bounded. Finally, we perform compute simulations to demonstrate the performance of the proposed controller.

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Adaptive tracking control of nonholonomic mobile robots considering actuator dynamics: Dynamic surface design approach

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