Adaptive Tracking and Stabilization of Nonholonomic Mobile Robots With Input Saturation

• 成果类型: Article
• 署名作者: Li, Jia-Wang
• 署名单位: Ningbo University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2021.3129158
• 发表日期: 2022
• 页码: 6173-6179
• 关键词: Mobile robots; Wheels; CONVERGENCE; Perturbation methods; trajectory; kinematics; Angular velocity; Adaptive control; Constrained control; robotics; tracking and stabilization

摘要

This article investigates the control problems of tracking and stabilization simultaneously for nonholonomic mobile robots subjected to input constraints and parameter uncertainties. A saturated time-varying controller is developed by applying a novel error state modification with bounded auxiliary variables. To improve the estimation performance of unknown kinematic and dynamic parameters, two projection-type adaptation laws are presented, while radial basis function approximations are used to estimate uncertain dynamics. Simulations are conducted to verify the effectiveness of the proposed controller.