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Design and Implementation of an Inverse Dynamics Controller for Uncertain Nonholonomic Robotic Systems

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Abstract

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.

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Authors and Affiliations

  1. Mechatronics and Robotics Research Laboratory, Electronic Research Center, Electrical Engineering Department, Iran University of Science and Technology, Tehran, Iran

    Khoshnam Shojaei & Alireza Mohammad Shahri

  2. School of Informatics, University of Edinburgh, Edinburgh, England

    Behzad Tabibian

Authors
  1. Khoshnam Shojaei
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  2. Alireza Mohammad Shahri
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  3. Behzad Tabibian
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Correspondence to Khoshnam Shojaei.

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Shojaei, K., Shahri, A.M. & Tabibian, B. Design and Implementation of an Inverse Dynamics Controller for Uncertain Nonholonomic Robotic Systems. J Intell Robot Syst 71, 65–83 (2013). https://doi.org/10.1007/s10846-012-9762-x

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  • DOI: https://doi.org/10.1007/s10846-012-9762-x

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