Adaptive sliding mode control for trajectory tracking of nonholonomic mobile robot with uncertain kinematics and dynamics
This article designs a novel adaptive trajectory tracking controller for nonholonomic wheeled mobile robot under kinematic and dynamic uncertainties. A new velocity controller, in which kinematic parameter is estimated, produces velocity command of the robot. The designed adaptive sliding mode dynam...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Taylor & Francis Group
2018-11-01
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| Series: | Applied Artificial Intelligence |
| Online Access: | http://dx.doi.org/10.1080/08839514.2018.1519100 |
| _version_ | 1797684851748372480 |
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| author | Yasmine Koubaa Mohamed Boukattaya Tarak Damak |
| author_facet | Yasmine Koubaa Mohamed Boukattaya Tarak Damak |
| author_sort | Yasmine Koubaa |
| collection | DOAJ |
| description | This article designs a novel adaptive trajectory tracking controller for nonholonomic wheeled mobile robot under kinematic and dynamic uncertainties. A new velocity controller, in which kinematic parameter is estimated, produces velocity command of the robot. The designed adaptive sliding mode dynamic controller incorporates an estimator term to compensate for the external disturbances and dynamic uncertainties and a feedback term to improve the closed-loop stability and account for the estimation error of external disturbances. The system stability is analyzed using Lyapunov theory. Computer simulations affirm the robustness of the designed control scheme. |
| first_indexed | 2024-03-12T00:36:47Z |
| format | Article |
| id | doaj.art-012e9b667c8447d0af2b3b0a74fa9fc5 |
| institution | Directory Open Access Journal |
| issn | 0883-9514 1087-6545 |
| language | English |
| last_indexed | 2024-03-12T00:36:47Z |
| publishDate | 2018-11-01 |
| publisher | Taylor & Francis Group |
| record_format | Article |
| series | Applied Artificial Intelligence |
| spelling | doaj.art-012e9b667c8447d0af2b3b0a74fa9fc52023-09-15T09:33:56ZengTaylor & Francis GroupApplied Artificial Intelligence0883-95141087-65452018-11-01329-1092493810.1080/08839514.2018.15191001519100Adaptive sliding mode control for trajectory tracking of nonholonomic mobile robot with uncertain kinematics and dynamicsYasmine Koubaa0Mohamed Boukattaya1Tarak Damak2National School of Engineering of SfaxNational School of Engineering of SfaxNational School of Engineering of SfaxThis article designs a novel adaptive trajectory tracking controller for nonholonomic wheeled mobile robot under kinematic and dynamic uncertainties. A new velocity controller, in which kinematic parameter is estimated, produces velocity command of the robot. The designed adaptive sliding mode dynamic controller incorporates an estimator term to compensate for the external disturbances and dynamic uncertainties and a feedback term to improve the closed-loop stability and account for the estimation error of external disturbances. The system stability is analyzed using Lyapunov theory. Computer simulations affirm the robustness of the designed control scheme.http://dx.doi.org/10.1080/08839514.2018.1519100 |
| spellingShingle | Yasmine Koubaa Mohamed Boukattaya Tarak Damak Adaptive sliding mode control for trajectory tracking of nonholonomic mobile robot with uncertain kinematics and dynamics Applied Artificial Intelligence |
| title | Adaptive sliding mode control for trajectory tracking of nonholonomic mobile robot with uncertain kinematics and dynamics |
| title_full | Adaptive sliding mode control for trajectory tracking of nonholonomic mobile robot with uncertain kinematics and dynamics |
| title_fullStr | Adaptive sliding mode control for trajectory tracking of nonholonomic mobile robot with uncertain kinematics and dynamics |
| title_full_unstemmed | Adaptive sliding mode control for trajectory tracking of nonholonomic mobile robot with uncertain kinematics and dynamics |
| title_short | Adaptive sliding mode control for trajectory tracking of nonholonomic mobile robot with uncertain kinematics and dynamics |
| title_sort | adaptive sliding mode control for trajectory tracking of nonholonomic mobile robot with uncertain kinematics and dynamics |
| url | http://dx.doi.org/10.1080/08839514.2018.1519100 |
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