Adaptive Control of an Electrically Driven Nonholonomic Mobile Robot via Backstepping and Fuzzy Approach
文献类型：期刊论文
| 作者 | Hou, Zeng-Guang1 ; Zou, An-Min2; Cheng, Long1; Tan, Min1
|
| 刊名 | IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
 |
| 出版日期 | 2009-07-01 |
| 卷号 | 17期号:4页码:803-815 |
| 关键词 | Actuator dynamics adaptive backstepping control fuzzy logic nonholonomic mobile robot |
| 英文摘要 | This paper investigates the tracking control of an electrically driven nonholonomic mobile robot with model uncertainties in the robot kinematics, the robot dynamics, and the wheel actuator dynamics. A robust adaptive controller is proposed with the utilization of adaptive control, backstepping and fuzzy logic techniques. The proposed control scheme employs the adaptive control approach to design an auxiliary wheel velocity controller to make the tracking error as small as possible in consideration of uncertainties in the kinematics of the robot, and makes use of the fuzzy logic systems to learn the behaviors of the unknown dynamics of the robot and the wheel actuators. The approximation errors and external disturbances can be efficiently counteracted by employing smooth robust compensators. A major advantage of the proposed method is that previous knowledge of the robot kinematics and the dynamics of the robot and wheel actuators is no longer necessary. This is because the controller learns both the robot kinematics and the robot and wheel actuator dynamics online. Most importantly, all signals in the closed-loop system can be guaranteed to be uniformly ultimately bounded. For the dynamic uncertainties of robot and actuator, the assumption of "linearity in the unknown parameters" and tedious analysis of determining the "regression matrices" in the standard adaptive robust controllers are no longer necessary. The performance of the proposed approach is demonstrated through a simulation example. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Engineering, Electrical & Electronic |
| 研究领域[WOS] | Automation & Control Systems ; Engineering |
| 关键词[WOS] | TRACKING CONTROL ; MECHANICAL SYSTEMS ; NETWORKS ; DESIGN ; MANIPULATORS ; LOGIC |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000267435900006 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/3425]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, Key Lab Complex Syst & Intelligence Sci, Beijing 100190, Peoples R China 2.Ryerson Univ, Dept Aerosp Engn, Toronto, ON M5B 2K3, Canada |
| 推荐引用方式 GB/T 7714 | Hou, Zeng-Guang,Zou, An-Min,Cheng, Long,et al. Adaptive Control of an Electrically Driven Nonholonomic Mobile Robot via Backstepping and Fuzzy Approach[J]. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,2009,17(4):803-815. |
| APA | Hou, Zeng-Guang,Zou, An-Min,Cheng, Long,&Tan, Min.(2009).Adaptive Control of an Electrically Driven Nonholonomic Mobile Robot via Backstepping and Fuzzy Approach.IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,17(4),803-815. |
| MLA | Hou, Zeng-Guang,et al."Adaptive Control of an Electrically Driven Nonholonomic Mobile Robot via Backstepping and Fuzzy Approach".IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 17.4(2009):803-815. |
入库方式： OAI收割
来源：自动化研究所
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