An adaptive nonlinear trajectory tracking design for mobile robots and it's practical implementation

Yung Hsiang Chen, Tzuu-Hseng S. Li, Yung-Yu Chen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

An adaptive nonlinear trajectory tracking design for mobile robot and its practical implementation are presented in this paper. The design objective is to specify one nonlinear controller with a parameter adaptive law that satisfies the adaptive H2 optimal performance. In general, it is hard to obtain the closed-form solution from this nonlinear trajectory-tracking problem. Fortunately, based on the property of the trajectory tracking system of the nonholonomic mobile robot, the adaptive H2 trajectory tracking problems can be reduced to solving one nonlinear time varying Riccati-like equations. Furthermore, one closed-form solution to this nonlinear time varying Riccati-like equation can be obtained with very simple forms for the preceding control design. Finally, there are two practical testing conditions: circular and S type reference trajectories are used for performance verification.

Original languageEnglish
Title of host publicationInnovation for Applied Science and Technology
Pages1744-1748
Number of pages5
DOIs
Publication statusPublished - 2013 Feb 20
Event2nd International Conference on Engineering and Technology Innovation 2012, ICETI 2012 - Kaohsiung, Taiwan
Duration: 2012 Nov 22012 Nov 6

Publication series

NameApplied Mechanics and Materials
Volume284-287
ISSN (Print)1660-9336
ISSN (Electronic)1662-7482

Other

Other2nd International Conference on Engineering and Technology Innovation 2012, ICETI 2012
CountryTaiwan
CityKaohsiung
Period12-11-0212-11-06

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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