Abstract
In this article, an adaptive tracking control method is proposed for wheeled mobile robots (WMR). In the trajectory tracking control of WMR, skidding and slipping are taken into account, and the slip degree parameters are introduced. The disturbance observer is designed to estimate the total disturbances. Then, we design the adaptive controller to guarantee that the tracking errors asymptotically converge to zero, the stability of the system is proved by Lyapunov theory. Finally, the simulation results are provided to demonstrate the effectiveness of the proposed scheme.
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Recommended by Editor Fumitoshi Matsuno. This work was supported in part by National Natural Science Foundation of China (No. 61873061) and Qing Lan Project.
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Wang, S., Zhai, J. A Trajectory Tracking Method for Wheeled Mobile Robots Based on Disturbance Observer. Int. J. Control Autom. Syst. 18, 2165–2169 (2020). https://doi.org/10.1007/s12555-019-0156-8
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DOI: https://doi.org/10.1007/s12555-019-0156-8