Skip to main content
SpringerLink
Log in

Intelligent Control for an Uncertain Mobile Robot with External Disturbances Estimator

  • Chapter
  • First Online:
New Trends in Robot Control

Part of the book series: Studies in Systems, Decision and Control ((SSDC,volume 270))

Abstract

In this chapter, a new control approach for trajectory tracking problem of nonholonomic wheeled mobile robot (WMR) is proposed to cope with both uncertainties and external torque disturbances. The main contribution is the simultaneous exact estimation and cancelation of uncertainties and external torque disturbances without the requirement of torque measurement. First, a kinematic backstepping controller is proposed to achieve perfect velocity tracking. Then, a robust dynamic adaptive control algorithm with two update laws is developed to estimate and compensate the dynamic uncertainties and the unmeasured external torque disturbances. The design of the update laws use only position and velocity measurements and are derived from the Lyapunov stability theorem. Consequently, the proposed controllers prove that they not only can guarantee the stability and the trajectory tracking error is as small as possible but also the boundedness of all the states and signals of the closed-loop system and the convergence of the estimated disturbance to the real values. Finally, the simulation results demonstrate good tracking performance and robustness of the proposed controller.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 139.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 179.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 179.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Abadi, D.N.M., Khooban, M.H.: Design of optimal mamdani-type fuzzy controller for nonholonomic wheeled mobile robots. J. King Saud Univ-Eng. Sci. 27(1), 92–100 (2015)

    Article  Google Scholar 

  2. Almeida Martins, N., El’youssef, E.S., De Pieri, E.R., Lombardi, W.C., Jungers, M.: An adaptive variable structure controller for the trajectory tracking of a nonholonomic mobile robot with uncertainties and disturbances. J. Comput. Sci. Technol. 11 (2011)

    Google Scholar 

  3. Blaič, S.: A novel trajectory-tracking control law for wheeled mobile robots. Robot. Auton. Syst. 59(11), 1001–1007 (2011)

    Article  Google Scholar 

  4. Boukattaya, M., Jallouli, M., Damak, T.: On trajectory tracking control for nonholonomic mobile manipulators with dynamic uncertainties and external torque disturbances. Robot. Auton. Syst. 60(12), 1640–1647 (2012)

    Article  Google Scholar 

  5. Cui, M., Liu, H., Liu, W., Qin, Y.: An adaptive unscented Kalman filter-based controller for simultaneous obstacle avoidance and tracking of wheeled mobile robots with unknown slipping parameters. J. Intell. Robot. Syst. 1–16 (2017)

    Google Scholar 

  6. Danesh, M., Sheikholeslam, F., Keshmiri, M.: An adaptive manipulator controller based on force and parameter estimation. IEICE Trans. Fundam. Electron. Commun. Comput. Sci. 89(10), 2803–2811 (2006)

    Article  Google Scholar 

  7. Esmaeili, N., Alfi, A., Khosravi, H.: Balancing and trajectory tracking of two-wheeled mobile robot using backstepping sliding mode control: design and experiments. J. Intell. Robot. Syst. 87(3–4), 601–613 (2017)

    Article  Google Scholar 

  8. Fierro, R., Lewis, F.L.: Control of a nonholonomic mobile robot using neural networks. IEEE Trans. Neural Netw. 9(4), 589–600 (1998)

    Article  Google Scholar 

  9. Ghasemi, M., Nersesov, S.G., Clayton, G.: Finite-time tracking using sliding mode control. J. Frankl. Inst. 351(5), 2966–2990 (2014)

    Article  MathSciNet  Google Scholar 

  10. Kim, D.-H., Oh, J.-H.: Tracking control of a two-wheeled mobile robot using input-output linearization. Control Eng. Pract. 7(3), 369–373 (1999)

    Article  Google Scholar 

  11. Liu, Z., Chen, C., Zhang, Y., Chen, C.P.: Coordinated fuzzy control of robotic arms with actuator nonlinearities and motion constraints. Inf. Sci. 296, 1–13 (2015)

    Article  Google Scholar 

  12. Mohareri, O., Dhaouadi, R., Rad, A.B.: Indirect adaptive tracking control of a nonholonomic mobile robot via neural networks. Neurocomputing 88, 54–66 (2012)

    Article  Google Scholar 

  13. Peng, Z., Yang, S., Wen, G., Rahmani, A., Yu, Y.: Adaptive distributed formation control for multiple nonholonomic wheeled mobile robots. Neurocomputing 173, 1485–1494 (2016)

    Article  Google Scholar 

  14. Pourboghrat, F., Karlsson, M.P.: Adaptive control of dynamic mobile robots with nonholonomic constraints. Comput. Electr. Eng. 28(4), 241–253 (2002)

    Article  Google Scholar 

  15. Rani, M., Kumar, N., Singh, H.P.: Efficient position/force control of constrained mobile manipulators. Int. J. Dyn. Control 1–10 (2018)

    Google Scholar 

  16. Shojaei, K., Shahri, A.M., Tarakameh, A.: Adaptive feedback linearizing control of nonholonomic wheeled mobile robots in presence of parametric and nonparametric uncertainties. Robot. Comput.-Integr. Manuf. 27(1), 194–204 (2011)

    Article  Google Scholar 

  17. Singh, V.K., Sharma, V., Sharma, B., Nath, R.: Synchronisation of different order chaotic systems with delay and parametric uncertainty. Int. J. Appl. Nonlinear Sci. 2(3), 184–199 (2016)

    Article  MathSciNet  Google Scholar 

  18. Su, K.-H.: Robust tracking control design and its application to balance a two-wheeled robot steering on a bumpy road. Proc. Inst. Mech. Eng. Part I: J. Syst. Control Eng. 226(7), 887–903 (2012)

    Google Scholar 

  19. Sun, T., Pei, H., Pan, Y., Zhou, H., Zhang, C.: Neural network-based sliding mode adaptive control for robot manipulators. Neurocomputing 74(14–15), 2377–2384 (2011)

    Article  Google Scholar 

  20. Tsai, C.-C., Cheng, M.-B., Lin, S.-C.: Robust tracking control for a wheeled mobile manipulator with dual arms using hybrid sliding-mode neural network. Asian J. Control 9(4), 377–389 (2007)

    Article  MathSciNet  Google Scholar 

  21. Tsai, C.-C., Li, Y.-Y., Tai, F.-C., Lu, C.-H.: Intelligent adaptive motion control using fuzzy basis function networks for electric unicycle. Asian J. Control 17(3), 977–993 (2015)

    Article  MathSciNet  Google Scholar 

  22. Wu, J., Xu, G., Yin, Z.: Robust adaptive control for a nonholonomic mobile robot with unknown parameters. J. Control Theory Appl. 7(2), 212–218 (2009)

    Article  MathSciNet  Google Scholar 

  23. Ye, J.: Tracking control for nonholonomic mobile robots: integrating the analog neural network into the backstepping technique. Neurocomputing 71(16–18), 3373–3378 (2008)

    Article  Google Scholar 

  24. Yue, M., Wang, S., Zhang, Y.: Adaptive fuzzy logic-based sliding mode control for a nonholonomic mobile robot in the presence of dynamic uncertainties. Proc. Inst. Mech. Eng. Part C: J. Mech. Eng. Sci. 229(11), 1979–1988 (2015)

    Article  Google Scholar 

  25. Yue, M., Wei, X.: Dynamic balance and motion control for wheeled inverted pendulum vehicle via hierarchical sliding mode approach. Proc. Inst. Mech. Eng. Part I: J. Syst. Control Eng. 228(6), 351–358 (2014)

    Google Scholar 

  26. Zhang, Y., Liu, G., Luo, B.: Finite-time cascaded tracking control approach for mobile robots. Inf. Sci. 284, 31–43 (2014). Special issue on Cloud-assisted Wireless Body Area Networks

    Google Scholar 

  27. Zhou, B., Han, J., Dai, X.: Backstepping based global exponential stabilization of a tracked mobile robot with slipping perturbation. J. Bionic Eng. 8(1), 69–76 (2011)

    Article  Google Scholar 

Download references

Acknowledgements

We thank the ministry of higher education and scientific research of Tunisia for funding this work.

Author information

Authors and Affiliations

  1. Laboratory of Sciences and Techniques of Automatic Control and Computer Engineering (Lab-STA), National School of Engineering of Sfax, 1173, 3038, Sfax, Tunisia

    Yasmine Koubaa, Mohamed Boukattaya & Tarak Damak

Authors
  1. Yasmine Koubaa
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Mohamed Boukattaya
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Tarak Damak
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Yasmine Koubaa .

Editor information

Editors and Affiliations

  1. Department of Electrical and Computer Engineering, Sultan Qaboos University, Al Khoudh, Oman

    Jawhar Ghommam

  2. National School of Engineers of Sfax, University of Sfax, Sfax, Tunisia

    Nabil Derbel

  3. Department of Engineering Design and Mathematics, University of the West of England, Bristol, UK

    Quanmin Zhu

Rights and permissions

Reprints and permissions

Copyright information

© 2020 Springer Nature Singapore Pte Ltd.

About this chapter

Check for updates. Verify currency and authenticity via CrossMark

Cite this chapter

Koubaa, Y., Boukattaya, M., Damak, T. (2020). Intelligent Control for an Uncertain Mobile Robot with External Disturbances Estimator. In: Ghommam, J., Derbel, N., Zhu, Q. (eds) New Trends in Robot Control. Studies in Systems, Decision and Control, vol 270. Springer, Singapore. https://doi.org/10.1007/978-981-15-1819-5_8

Download citation

Publish with us

Policies and ethics

Search

Navigation