Dynamic tracking control of nonholonomic mobile robot with model reference adaptation for uncertain parameters

摘要

Dynamic control of parallel wheeled differential drive mobile robot is considered. The dynamic model is composed of two consecutive parts; kinematic model and equations of linear and angular torques. By transforming dynamic error equations of kinematic model to mobile coordinates, the tracking problem changes to stabilization. controller is designed in two consecutive parts: in the first part kinematic stabilization is done using nonlinear control laws, in the second one, acceleration rate control has been used for Exponential stabilization of linear and angular velocities. Uncertainties in the parameters of dynamic model (mass and inertia) have been compensated using model reference adaptive control. By introducing appropriate Lyapunov functions asymptotic stability of state variables and stability of system is guaranteed. The distinctive property of the proposed controller is its robustness of performance in the presence of uncertainties. Simulations illustrate quality and efficiency of this method.