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Orientation-error observer-based tracking control of nonholonomic mobile robots

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Abstract

In this paper, a novel trajectory tracking controller is proposed for mobile robots with unknown orientation angle by employing the orientation-error observer (OEO). In order to overcome the local stability resulted from linearization design methods, an asymptotically stable controller is designed using Lyapunov’s direct method. This method breaks down nonlinear systems into low-dimensional systems and simplifies the controller design using virtual auxiliary error function and partial Lyapunov functions. A state-feedback controller for the nonlinear error dynamics of the mobile robot is combined with an observer that estimates the orientation-error based on available trajectory information and measurement of the position coordinates. The stability of the system is easily proved via the Lyapunov theory. Abundant simulation and experiment results validate the effectiveness and superiority of the proposed control method.

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Acknowledgements

This work was supported partly by the National Natural Science Foundation of China (No. U1404614, No. 61503202), the Henan Province Education Department Foundation of China (No.17A413002, No.14B120003), the Henan Province Scientific and Technological Foundation of China (No. 152102210336).

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Authors and Affiliations

  1. College of Mechanical and Electronical Engineering, Nanyang Normal University, Nanyang, 473061, China

    Mingyue Cui, Hongzhao Liu, Wei Liu & Xiaodong Lv

  2. Oil Equipment Intelligent Control Engineering Laboratory of Henan Province, Nanyang, Henan, 473061, China

    Mingyue Cui, Hongzhao Liu, Wei Liu & Xiaodong Lv

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  1. Mingyue Cui
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  2. Hongzhao Liu
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  3. Wei Liu
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  4. Xiaodong Lv
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Correspondence to Mingyue Cui.

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Cui, M., Liu, H., Liu, W. et al. Orientation-error observer-based tracking control of nonholonomic mobile robots. Nonlinear Dyn 90, 935–949 (2017). https://doi.org/10.1007/s11071-017-3703-y

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  • DOI: https://doi.org/10.1007/s11071-017-3703-y

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