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A Trajectory Tracking Method for Wheeled Mobile Robots Based on Disturbance Observer

Shuai Wang and Junyong Zhai*
International Journal of Control, Automation, and Systems, vol. 18, no. 8, pp.2165-2169, 2020

Abstract : In this article, an adaptive tracking control method is proposed for wheeled mobile robots (WMR). In the trajectory tracking control of WMR, skidding and slipping are taken into account, and the slip degree parameters are introduced. The disturbance observer is designed to estimate the total disturbances. Then, we design the adaptive controller to guarantee that the tracking errors asymptotically converge to zero, the stability of the system is proved by Lyapunov theory. Finally, the simulation results are provided to demonstrate the effectiveness of the proposed scheme.

Keyword : Disturbance observer, input torque, kinematic controller, slip degree parameters, tracking error

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