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:	Makoto YOKOYAMA, Jun IKARASHI, Akinori OKAWA
Formato:	article
Lenguaje:	EN
Publicado:	The Japan Society of Mechanical Engineers 2015
Materias:	wheeled mobile robot skid-steer nonlinear control adaptive control backstepping i&i Mechanical engineering and machinery TJ1-1570
Acceso en línea:	https://doaj.org/article/5c174cc41b7e49498a588abd4f8c3829
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spelling	oai:doaj.org-article:5c174cc41b7e49498a588abd4f8c38292021-11-26T06:27:48ZAdaptive control of a skid-steer mobile robot with uncertain cornering stiffness2187-974510.1299/mej.15-00040https://doaj.org/article/5c174cc41b7e49498a588abd4f8c38292015-07-01T00:00:00Zhttps://www.jstage.jst.go.jp/article/mej/2/4/2_15-00040/_pdf/-char/enhttps://doaj.org/toc/2187-9745This 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.Makoto YOKOYAMAJun IKARASHIAkinori OKAWAThe Japan Society of Mechanical Engineersarticlewheeled mobile robotskid-steernonlinear controladaptive controlbacksteppingi&iMechanical engineering and machineryTJ1-1570ENMechanical Engineering Journal, Vol 2, Iss 4, Pp 15-00040-15-00040 (2015)
institution	DOAJ
collection	DOAJ
language	EN
topic	wheeled mobile robot skid-steer nonlinear control adaptive control backstepping i&i Mechanical engineering and machinery TJ1-1570
spellingShingle	wheeled mobile robot skid-steer nonlinear control adaptive control backstepping i&i Mechanical engineering and machinery TJ1-1570 Makoto YOKOYAMA Jun IKARASHI Akinori OKAWA Adaptive control of a skid-steer mobile robot with uncertain cornering stiffness
description	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.
format	article
author	Makoto YOKOYAMA Jun IKARASHI Akinori OKAWA
author_facet	Makoto YOKOYAMA Jun IKARASHI Akinori OKAWA
author_sort	Makoto YOKOYAMA
title	Adaptive control of a skid-steer mobile robot with uncertain cornering stiffness
title_short	Adaptive control of a skid-steer mobile robot with uncertain cornering stiffness
title_full	Adaptive control of a skid-steer mobile robot with uncertain cornering stiffness
title_fullStr	Adaptive control of a skid-steer mobile robot with uncertain cornering stiffness
title_full_unstemmed	Adaptive control of a skid-steer mobile robot with uncertain cornering stiffness
title_sort	adaptive control of a skid-steer mobile robot with uncertain cornering stiffness
publisher	The Japan Society of Mechanical Engineers
publishDate	2015
url	https://doaj.org/article/5c174cc41b7e49498a588abd4f8c3829
work_keys_str_mv	AT makotoyokoyama adaptivecontrolofaskidsteermobilerobotwithuncertaincorneringstiffness AT junikarashi adaptivecontrolofaskidsteermobilerobotwithuncertaincorneringstiffness AT akinoriokawa adaptivecontrolofaskidsteermobilerobotwithuncertaincorneringstiffness
_version_	1718409777590042624

Adaptive control of a skid-steer mobile robot with uncertain cornering stiffness

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