Adaptive control of a skid-steer mobile robot with uncertain cornering stiffness
This paper presents an adaptive controller for a position tracking problem of a skid-steer mobile robot. First, a non-adaptive control law is designed by the backstepping method, where the reference signals are generated by a non-holonomically constrained kinematic model in order to make it easy to...
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Autores principales: | , , |
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Formato: | article |
Lenguaje: | EN |
Publicado: |
The Japan Society of Mechanical Engineers
2015
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Materias: | |
Acceso en línea: | https://doaj.org/article/5c174cc41b7e49498a588abd4f8c3829 |
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Sumario: | This paper presents an adaptive controller for a position tracking problem of a skid-steer mobile robot. First, a non-adaptive control law is designed by the backstepping method, where the reference signals are generated by a non-holonomically constrained kinematic model in order to make it easy to construct a Lyapunov function candidate. Then an estimator for unknown cornering stiffness is designed based on the Immersion and Invariance (I&I) approach, where the manifold is properly designed to reduce the effect of the estimation error on the tracking performance. Finally it is shown that the closed-loop system can be uniformly ultimately bounded, and numerical simulation shows the effectiveness of the proposed controller. |
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