Trajectory Tracking Optimal Control for Nonholonomic Mobile Robot

Sensors & Transducers

卷:208

Jiayu SHI¹  Haitao ZHANG¹  Jianwei MA¹ 

[1]Henan University of Science & Technology, Luoyang, 471023, China

关键词: Mobile robot;    Backstepping;    Adaptive sliding mode control;    Trajectory tracking.;   

DOI  :  

来源: DOAJ

【 摘 要 】

This paper discussed the problem of trajectory tracking control for the nonholonomic mobile robot’s kinematic model with the angular speed of two actuated wheels as its control input. Based on the backstepping control algorithm, a sliding-mode variable structure switching function is designed, in order to improve the quality of motion control, fuzzy logic is used to adjust sliding-mode reaching law parameters. An adaptive control algorithm is proposed to compensate the unknown parameters, on the other hand. The stability of system is easily proven via the Lyapunov function. The simulation results are provided to illustrate the effectiveness of the controller.

【 授权许可】

Unknown