This article addresses the trajectory tracking control problem of a mobile robot with unknown longitudinal slip by introducing the slip ratio and an adaptive method for stability. We establish a kinematic model of Wheeled Mobile Robots (WMR) and design a new Lyapunov equation to extend the attractive domain of steering angle error. Cross terms are introduced to eliminate the need for separate consideration of the traditional Lyapunov equation. Unknown slip is represented as an unknown parameter in the kinematic model and estimated using an adaptive law. The asymptotic stability of the tracking error system is proved. Our proposed control law demonstrates improved stability and effectiveness compared to two reference trajectories, as confirmed by simulations.
Trajectory Control for Wheeled Mobile Robots Robot with Longitudinal Slippage
2023-12-01
1243700 byte
Conference paper
Electronic Resource
English
Trajectory Tracking Control of Wheeled Mobile Robots Using PID Control Method
British Library Online Contents | 2017
|Robust Trajectory Tracking Control of Wheeled Mobile Robots Using Velocity Estimator
British Library Online Contents | 2004
|Trajectory Control and Stabilization of Nonholonomic Wheeled Mobile Robot
British Library Conference Proceedings | 1998
|Research on trajectory tracking control of nonholonomic wheeled mobile service robots
British Library Conference Proceedings | 2009
|