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Adaptive trajectory tracking control of a differential drive wheeled mobile robot

Published online by Cambridge University Press:  03 June 2010

Khoshnam Shojaei ,
Alireza Mohammad Shahri ,
Ahmadreza Tarakameh  and
Behzad Tabibian
Khoshnam Shojaei*
Affiliation:
Mechatronics and Robotics Research Laboratory, Electronic Research Center, Electrical Engineering Department, Iran University of Science and Technology, Tehran, Iran Emails: shojaei@ee.iust.ac.ir, shahri@iust.ac.ir, a.tarakameh@ee.iust.ac.ir
Alireza Mohammad Shahri
Affiliation:
Mechatronics and Robotics Research Laboratory, Electronic Research Center, Electrical Engineering Department, Iran University of Science and Technology, Tehran, Iran Emails: shojaei@ee.iust.ac.ir, shahri@iust.ac.ir, a.tarakameh@ee.iust.ac.ir
Ahmadreza Tarakameh
Affiliation:
Mechatronics and Robotics Research Laboratory, Electronic Research Center, Electrical Engineering Department, Iran University of Science and Technology, Tehran, Iran Emails: shojaei@ee.iust.ac.ir, shahri@iust.ac.ir, a.tarakameh@ee.iust.ac.ir
Behzad Tabibian
Affiliation:
Computer Engineering Department, Iran University of Science and Technology, Tehran, Iran
*
*Corresponding author. Emails: khoshnam.shojaee@gmail.com, shojaei@ee.iust.ac.ir
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Summary

This paper presents an adaptive trajectory tracking controller for a non-holonomic wheeled mobile robot (WMR) in the presence of parametric uncertainty in the kinematic and dynamic models of the WMR and actuator dynamics. The adaptive non-linear control law is designed based on input–output feedback linearization technique to get asymptotically exact cancellation for the uncertainty in the given system parameters. In order to evaluate the performance of the proposed controller, a non-adaptive controller is compared with the adaptive controller via computer simulation results. The results show satisfactory trajectory tracking performance by virtue of SPR-Lyapunov design approach. In order to verify the simulation results, a set of experiments have been carried out on a commercial mobile robot. The experimental results also show the effectiveness of the proposed controller.

Keywords

Adaptive feedback linearizationParametric uncertaintyTrajectory trackingNon-holonomic WMR

Information

Type
Article
Information
Robotica , Volume 29 , Issue 3 , May 2011 , pp. 391 - 402
Copyright
Copyright © Cambridge University Press 2010

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