Abstract
This paper presents an adaptive tracking controller for a class of omnidirectional mobile robots with full-state constraints, model uncertainties and external disturbances. Kinematics and dynamics of three-wheel omnidirectional mobile robots are considered in the paper. And the adaptive estimation law is designed to deal with disturbances where the bounds of disturbances are unknown. Meanwhile, the control method based on barrier Lyapunov function is applied to prevent the states from violating restrictive conditions. All signals in tracking system are proved to be uniformly bounded with the proposed controller. The tracking performance will be guaranteed and the tracking errors will be sufficiently small by choosing suitable controller parameters. Simulation results validate the effectiveness and the robustness of the proposed control method.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Viet TD, Doan PT, Hung N, Kim HK, Kim SB (2012) Tracking control of a three-wheeled omnidirectional mobile manipulator system with disturbance and friction. J Mech Sci Technol 26(7):2197–2211
Hashemi E, Jadidi MG, Jadidi NG (2011) Model-based PI–fuzzy control of four-wheeled omni-directional mobile robots. Robot Auton Syst 59(11):930–942
Huang HC, Tsai CC (2008) Adaptive trajectory tracking and stabilization for omnidirectional mobile robot with dynamic effect and uncertainties. IFAC Proc Volumes 41(2):5383–5388
Teatro TA, Eklund JM, Milman R (2014) Nonlinear model predictive control for omnidirectional robot motion planning and tracking with avoidance of moving obstacles. Can J Electr Comput Eng 37(3):151–156
Liu CH, Hsiao MY (2012) Adaptive fuzzy terminal sliding-mode controller design for omni-directional mobile robots. Adv Sci Lett 8(1):611–615
Alakshendra V, Chiddarwar SS (2016) Adaptive robust control of Mecanum-wheeled mobile robot with uncertainties. Nonlinear Dyn 87(4):2147–2169
Huang JT, Van Hung T, Tseng ML (2015) Smooth switching robust adaptive control for omnidirectional mobile robots. IEEE Trans Control Syst Technol 23(5):1986–1993
Liu YJ, Tong S (2016) Barrier Lyapunov functions-based adaptive control for a class of nonlinear pure-feedback systems with full state constraints. Automatica 64:70–75
He W, Chen Y, Yin Z (2016) Adaptive neural network control of an uncertain robot with full-state constraints. IEEE Trans Cybern 46(3):620–629
Acknowledgements
This work was supported by the NSFC (61327807, 61521091, 61520106010, 61134005) and the National Basic Research Program of China (973 Program: 2012CB821200, 2012CB821201).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Zheng, W., Jia, Y. (2018). Trajectory Tracking Control for Omnidirectional Mobile Robots with Full-State Constraints. In: Deng, Z. (eds) Proceedings of 2017 Chinese Intelligent Automation Conference. CIAC 2017. Lecture Notes in Electrical Engineering, vol 458. Springer, Singapore. https://doi.org/10.1007/978-981-10-6445-6_66
Download citation
DOI: https://doi.org/10.1007/978-981-10-6445-6_66
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-10-6444-9
Online ISBN: 978-981-10-6445-6
eBook Packages: EngineeringEngineering (R0)