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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 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 languageEnglish
Title of host publication2009 American Control Conference, ACC 2009
Pages3860-3865
Number of pages6
DOIs
Publication statusPublished - 2009 Nov 23
Event2009 American Control Conference, ACC 2009 - St. Louis, MO, United States
Duration: 2009 Jun 102009 Jun 12

Publication series

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

Other

Other2009 American Control Conference, ACC 2009
CountryUnited States
CitySt. Louis, MO
Period09/6/1009/6/12

Fingerprint

Mobile robots
Actuators
Robots
Controllers
Control surfaces
Kinematics

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

Cite this

Park, B. S., Yoo, S. J., Park, J. B., & Choi, Y. H. (2009). Adaptive tracking control of nonholonomic mobile robots considering actuator dynamics: Dynamic surface design approach. In 2009 American Control Conference, ACC 2009 (pp. 3860-3865). [5159858] (Proceedings of the American Control Conference). https://doi.org/10.1109/ACC.2009.5159858
Park, Bong Seok ; Yoo, Sung Jin ; Park, Jin Bae ; Choi, Yoon Ho. / Adaptive tracking control of nonholonomic mobile robots considering actuator dynamics : Dynamic surface design approach. 2009 American Control Conference, ACC 2009. 2009. pp. 3860-3865 (Proceedings of the American Control Conference).
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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 proceedingConference contribution

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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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Park BS, Yoo SJ, Park JB, Choi YH. Adaptive tracking control of nonholonomic mobile robots considering actuator dynamics: Dynamic surface design approach. In 2009 American Control Conference, ACC 2009. 2009. p. 3860-3865. 5159858. (Proceedings of the American Control Conference). https://doi.org/10.1109/ACC.2009.5159858