کنترل ردیابی تطبیقی مبتنی بر نظاره گر برای ربات ها
ترجمه نشده

کنترل ردیابی تطبیقی مبتنی بر نظاره گر برای ربات ها

عنوان فارسی مقاله: کنترل ردیابی تطبیقی مبتنی بر نظاره گر برای ربات های متحرک چرخ دار با پارامترهای لغزش ناشناخته
عنوان انگلیسی مقاله: Observer-Based Adaptive Tracking Control of Wheeled Mobile Robots With Unknown Slipping Parameters
مجله/کنفرانس: دسترسی – IEEE Access
رشته های تحصیلی مرتبط: مهندسی برق
گرایش های تحصیلی مرتبط: رباتیک
کلمات کلیدی فارسی: ربات متحرک چرخ دار، لغزش طولی، کنترل تطبیقی، تکنیک بازگشت به عقب، نظاره گر زاویه گرایش
کلمات کلیدی انگلیسی: Wheeled mobile robot, longitudinal slipping, adaptive control, backstepping technique, orientation angle observer
نوع نگارش مقاله: مقاله پژوهشی (Research Article)
شناسه دیجیتال (DOI): https://doi.org/10.1109/ACCESS.2019.2955887
دانشگاه: College of Mechanical and Electronical Engineering, Nanyang Normal University, Nanyang 473061, China
صفحات مقاله انگلیسی: 10
ناشر: آی تریپل ای - IEEE
نوع ارائه مقاله: ژورنال
نوع مقاله: ISI
سال انتشار مقاله: 2019
ایمپکت فاکتور: 4.641 در سال 2018
شاخص H_index: 56 در سال 2019
شاخص SJR: 0.609 در سال 2018
شناسه ISSN: 2169-3536
شاخص Quartile (چارک): Q2 در سال 2018
فرمت مقاله انگلیسی: PDF
وضعیت ترجمه: ترجمه نشده است
قیمت مقاله انگلیسی: رایگان
آیا این مقاله بیس است: خیر
آیا این مقاله مدل مفهومی دارد: ندارد
آیا این مقاله پرسشنامه دارد: ندارد
آیا این مقاله متغیر دارد: ندارد
کد محصول: E14055
رفرنس: دارای رفرنس در داخل متن و انتهای مقاله
فهرست مطالب (انگلیسی)

Abstract

I. Introduction

II. Kinematic Model of the WMR With Wheels’ Slipping

III. Design of the Adaptive Tracking Controller

IV. Design of Orientation Angle Observer

V. Convergence Analyses of Tracking Errors

Authors

Figures

References

بخشی از مقاله (انگلیسی)

Abstract

Based on wheeled mobile robots (WMRs) with unknown longitudinal slipping parameters, an adaptive control strategy for a tracked mobile robot is presented, in which the longitudinal slipping of the left and right wheels are described by two unknown parameters. The kinematic model of mobile robot with wheels’ slipping is derived from the motion model of mobile robot without wheels’ slipping. Employing the Lyapunov direct method, an adaptive nonlinear feedback control law that compensates for the longitudinal slipping is proposed to achieve an objective of tracking a given trajectory. The orientation angle observer is designed to estimate the immeasurable orientation angle of the robot by employing the coordinate information. Asymptotic stability of the closed-loop system is ensured by choosing an appropriate Lyapunov function. Numerical and experimental results show the effectiveness of the proposed control approach.

Introduction

In the past two decades, wheeled mobile robots (WMRs) are increasingly presented in the fields of industry, agriculture, national defense and service, accordingly the problem of motion control of WMRs has attracted the interest of the researchers in view of its theoretical challenges result from the nature of the nonholonomic constraints [1], [2]. Many researchers have designed tracking and stabilization controllers for nonholonomic mobile robots using nonlinear control methods, such as sliding mode control[3]–[6], adaptive control[7]–[10], back-stepping control[11], [12], optimal control [13]–[15], intelligent control based on neural network[16]–[18] and fuzzy control[19], [20]. The previous papers mostly assume that the WMR satisfies nonholonomic constraints [1]–[20]. The nonholo- nomic constraints are generated by the assumption that the mobile robots are subject to a ‘pure rolling without slipping’. However, since the robotic wheels’ slipping can happen in various practical environments such as the on wet or icy roads, rough terrain, or the rapid cornering, the nonholonomic constraint can be disturbed in a few literatures [21]–[28]. Therefore, it is necessary to study the control method of mobile robot considering wheels’ slipping. In [21], Wang and Low presented the model of wheeled mobile robot with wheels’ longitudinal and lateral slipping, and its controllability was tested according to the maneuverability of the mobile robot. They also proposed a control method for path following and tracking of mobile robots considering slipping [22], [23].