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Robust Tracking Control of Wheeled Mobile Robots with Parameter Uncertainties and only Target’s Position Measurement

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Proceedings of 2016 Chinese Intelligent Systems Conference (CISC 2016)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 404))

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Abstract

Robust tracking control of wheeled mobile robots (WMRs) is studied in this work. Considering the dynamic model of WMRs with unknown parameters, a robust sliding-mode state feedback controller is proposed, guaranteeing the tracking errors converge to zero asymptotically. Later, combining robust exact differentiators with the proposed state feedback control law leads to a tracking controller, in which only the position of reference robot is included and the tracking errors are driven to the origin asymptotically too. Numerical simulation is carried out to verify the effectiveness of proposed controller.

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Author information

Authors and Affiliations

  1. The Seventh Research Division, School of Automation Science and Electrical Engineering, Beihang University, Beijing, 100191, China

    Lixia Yan & Baoli Ma

Authors
  1. Lixia Yan
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  2. Baoli Ma
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Corresponding author

Correspondence to Baoli Ma .

Editor information

Editors and Affiliations

  1. Beihang University , Beijing, China

    Yingmin Jia

  2. Beijing University of Posts and Telecommunications, Beijing, China

    Junping Du

  3. University of Science and Technology Beijing, Beijing, China

    Weicun Zhang

  4. Tsinghua University , Beijing, China

    Hongbo Li

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© 2016 Springer Science+Business Media Singapore

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Yan, L., Ma, B. (2016). Robust Tracking Control of Wheeled Mobile Robots with Parameter Uncertainties and only Target’s Position Measurement. In: Jia, Y., Du, J., Zhang, W., Li, H. (eds) Proceedings of 2016 Chinese Intelligent Systems Conference. CISC 2016. Lecture Notes in Electrical Engineering, vol 404. Springer, Singapore. https://doi.org/10.1007/978-981-10-2338-5_39

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  • DOI: https://doi.org/10.1007/978-981-10-2338-5_39

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-2337-8

  • Online ISBN: 978-981-10-2338-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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