Design and Implementation of an Inverse Dynamics Controller for Uncertain Nonholonomic Robotic Systems
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- Shojaei, K., Shahri, A.M. & Tabibian, B. J Intell Robot Syst (2013) 71: 65. doi:10.1007/s10846-012-9762-x
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This paper addresses the trajectory tracking control problem of nonholonomic robotic systems in the presence of modeling uncertainties. A tracking controller is proposed such that it combines the inverse dynamics control technique and an adaptive robust PID control strategy to preserve robustness to both parametric and nonparametric uncertainties. A SPR-Lypunov stability analysis demonstrates that tracking errors are uniformly ultimately bounded (UUB) and exponentially converge to a small ball containing the origin. The proposed inverse dynamics tracking controller is successfully applied to a nonholonomic wheeled mobile robot (WMR) and experimental results are presented to validate the effectiveness of the proposed controller.