Trajectory Tracking Control of Nonholonomic Mobile Robot based on Model Adaptive Control
Conference: ICMLCA 2021 - 2nd International Conference on Machine Learning and Computer Application
12/17/2021 - 12/19/2021 at Shenyang, China
Proceedings: ICMLCA 2021
Pages: 4Language: englishTyp: PDF
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Authors:
Guo, Haifeng; Lu, Ningbo (College of Automation and Electrical Engineering, Shenyang Ligong University, Shenyang, Shenyang, China)
Abstract:
In view of the model of the nonholonomic wheeled mobile robot with uncertain constraints, the model-based on adaptive control theory is applied to design the adaptive speed controller and virtual torque control, in order to get the trajectory tracking control. Firstly, the virtual control speed is designed using the adaptive control strategy, and the control speed and the control angular velocity are duce by the expected speed and the angular velocity; And according to the model-based control, the torque controller is designed in order to control the speed and the angular speed; Finally, the object output speed is changed into the corresponding position. Simulation results show that the control strategy in this robot has good tracking performance for a given trajectory.