An Adaptive Variable Structure Control Approach for Mobile Robots

摘要

This paper addresses the robust tracking of mobile robots with uncertain parameter variations. Based on the fact that a controllable driftless system with \%m\% inputs and at most \%m+2\% state variables is a differentially flat system, we develop a robust control approach to the trajectory tracking problem of a three wheel mobile robot via the dynamical extension approach and adaptive variable structure control technique. By applying the dynamical extension approach to the kinematic model of the three wheel mobile robot, the exact linearization of the extended dynamic feedback system is first realized under mild regular condition. In designing the robust control law we adopt the control interpolation in a boundary layer and on line parameter estimation to avoid the control chattering under large parameter uncertainties. Finally, numerical simulations are performed to show the efficiency of the proposed approach.