| Title: | OS4-5 Robust Control of Nonholonomic Wheeled Mobile Robot with Hybrid Controller Approach |
|---|---|
| Publication: | ICAROB2020 |
| Volume: | 25 |
| Pages: | 130-134 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2020.OS4-5 |
| Author(s): | Ho-Nien Shou |
| Publication Date: | January 13, 2020 |
| Keywords: | nonholonomic mobile robot, Cerebellar Model Articulation Controller, Lyapunov stability criterion, disturbance observer |
| Abstract: | This study proposes a control strategy to solve the nonholonomic mobile robot trajectory tracking problem on the basis of Cerebellar Model Articulation Controller (CMAC). Mobile robot needs two controllers to provide the control demands. One controller is mathematically described in terms of robot's kinematics; while the other is given by dynamics equations. To implement the speed control to track the reference trajectory, we apply the Lyapunov theory to obtain the virtual speed control command. On the other hand, we use cerebellum controller to approach to the nonlinearity and uncertainty of the dynamics model. Furthermore, we combine the speed error to construct a torque controller, which can online real-time compensate the influences made by uncertainties. The observer is used to estimate the external disturbance, so that the controller has more ability to reject external disturbance. The convergence and stability of the system is determined by the Lyapunov stability criterion after linearizing the system. Our simulation is performed in Matlab/Simulink environment, and the results verify the effectiveness of the controller algorithm. |
| PDF File: | https://alife-robotics.co.jp/members2020/icarob/data/html/data/OS/OS4/OS4-5.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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