Adaptive trajectory tracking control of wheeled mobile robots with disturbance observer

Authors

  • J. Taheri-Kalani,

    1. Electrical Engineering Department, Sahand University of Technology, Sahand, Tabriz, Iran
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  • M.J. Khosrowjerdi

    Corresponding author
    1. Electrical Engineering Department, Sahand University of Technology, Sahand, Tabriz, Iran
    • Correspondence to: M. J. Khosrowjerdi, Electrical Engineering Department, Sahand University of Technology, PO Box 51335-1996, Sahand, Tabriz, Iran.

      E-mail: khosrowjerdi@sut.ac.ir

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SUMMARY

In this paper, the trajectory tracking problem for a wheeled mobile robot in the presence of kinematic and dynamic uncertainties has been addressed. Uncertainties are modeled as lumped disturbances. A kinematic controller based on feedback linearization approach and a dynamic controller based on model reference adaptive control are designed in the presence of disturbances. In order to ensure both robustness and implementability of the controllers, the disturbances are estimated by a generalized linear matrix inequality-based disturbance observer. Simulation results show the effectiveness of the proposed method. Copyright © 2013 John Wiley & Sons, Ltd.

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