Adaptive Trajectory Tracking Control of Wheeled Mobile Robot

摘要

This paper proposes an adaptive trajectory tracking control scheme for a wheeled mobile robot in the presence of unknown parameters and uncertainties of dynamics model. The main idea is that an adaptive controller is designed to reduce the influence of unknown dynamics parameters and uncertainties, and a kinematics controller is used to generate a virtual velocity serving as a reference input for the dynamics control system. Through the regulation of virtual control law and adaptive control law, we can finally achieve the control effect of real velocity asymptotically tracking virtual velocity and virtual velocity asymptotically tracking expected velocity. It is proved that this method can make the robot quickly track the desired trajectory. Simulation results demonstrate the effectiveness of the proposed method.