학술논문
A Trajectory Tracking Method for Wheeled Mobile Robots Based on Disturbance Observer
Document Type
Article
Author
Source
(2022): 2165-2169.
Subject
Language
Korean
ISSN
15986446
Abstract
In this article, an adaptive tracking control method is proposed for wheeled mobile robots (WMR). In thetrajectory tracking control of WMR, skidding and slipping are taken into account, and the slip degree parameters areintroduced. The disturbance observer is designed to estimate the total disturbances. Then, we design the adaptivecontroller to guarantee that the tracking errors asymptotically converge to zero, the stability of the system is provedby Lyapunov theory. Finally, the simulation results are provided to demonstrate the effectiveness of the proposedscheme.
In this article, an adaptive tracking control method is proposed for wheeled mobile robots (WMR). In thetrajectory tracking control of WMR, skidding and slipping are taken into account, and the slip degree parameters areintroduced. The disturbance observer is designed to estimate the total disturbances. Then, we design the adaptivecontroller to guarantee that the tracking errors asymptotically converge to zero, the stability of the system is provedby Lyapunov theory. Finally, the simulation results are provided to demonstrate the effectiveness of the proposedscheme.
In this article, an adaptive tracking control method is proposed for wheeled mobile robots (WMR). In thetrajectory tracking control of WMR, skidding and slipping are taken into account, and the slip degree parameters areintroduced. The disturbance observer is designed to estimate the total disturbances. Then, we design the adaptivecontroller to guarantee that the tracking errors asymptotically converge to zero, the stability of the system is provedby Lyapunov theory. Finally, the simulation results are provided to demonstrate the effectiveness of the proposedscheme.