Robust adaptive tracking control of wheeled mobile robot

• DOI: 10.1016/j.robot.2016.01.002
• Publication Date: 2016-01-27T22:45:12Z
• Authors: Linjie Xin; Qinglin Wang; Jinhua She; Yuan Li
• Keywords: Tracking (education); Tracking error; Observer (physics)

This paper considers the problem of robust adaptive trajectory tracking control for a wheeled mobile robot (WMR). First, the trajectory tracking of the WMR is converted to a problem of the stabilization of a double integral system. Next, a continuous finite-time control method is employed to design a tracking controller. Then, a disturbance observer and an adaptive compensator are designed to cooperate with the tracking controller for dealing with system uncertainties of the WMR. Finally, a switching adaptive law is presented in combination with the boundary layer approach to attenuate the chattering in the adaptive compensator. As a result, the control system yields the ultimate boundedness of both the tracking error and the adaptive gain. Simulation results demonstrate the validity of the new method. Tracking control for a wheeled mobile robot is achieved by finite-time control.The disturbance observer gives an accurate compensation for system uncertainty.Requirement of boundary information of system uncertainty can be released.