D303 Adaptive Tracking Control for Nonholonomic Mobile Robot with Input Uncertainty

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Other Title
  • D303 入力部に不確かさを持つノンホロノミック移動ロボット車の適応追従制御(OS8 適応学習制御とその応用)
Published
2011
DOI
  • 10.1299/jsmemovic.2011.12.630
Publisher
The Japan Society of Mechanical Engineers

Description

This paper considers the design of an adaptive trajectory tracking control strategy of nonholonomic wheeled mobile robots which is based on H_∝ control method. Kinematics control laws of mobile robots is well known, therefore, developing the dynamics control is focused. It is shown that the resulting dynamic control strategy can compensate not only the physical parameters of mobile robot, but also the input torque uncertainty and the input torque disturbance based on adaptive H_∝ method.

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