A novel path following controller for an uncertain wheeled mobile robot

Le Qi; Baoli Ma; Wei Li

doi:10.1109/iCECE.2010.57

A novel path following controller for an uncertain wheeled mobile robot

Le Qi^*
, Baoli Ma
, Wei Li

^*Corresponding author for this work

School of Automation Science and Electrical Engineering

First Aeronautical Engineering Institute of Chinese Air Force
Commanding Communication Academy

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Feedback linearization approach and Lyapunov tool are used to construct an adaptive control law achieving asymptotical tracking of the desired geometric path in the presence of parameter uncertainties. Backstepping technique is used to obtain the control effort in the torque level. The advantage of the control scheme lies in that it removes the restrictions of the desired longitudinal velocity of the wheeled mobile robot being always positive or negative. Simulation results show the effectiveness of the proposed control scheme.

Original language	English
Title of host publication	Proceedings - International Conference on Electrical and Control Engineering, ICECE 2010
Pages	205-208
Number of pages	4
DOIs	https://doi.org/10.1109/iCECE.2010.57
State	Published - 2010
Event	International Conference on Electrical and Control Engineering, ICECE 2010 - Wuhan, China Duration: 26 Jun 2010 → 28 Jun 2010

Publication series

Name	Proceedings - International Conference on Electrical and Control Engineering, ICECE 2010

Conference

Conference	International Conference on Electrical and Control Engineering, ICECE 2010
Country/Territory	China
City	Wuhan
Period	26/06/10 → 28/06/10

Keywords

Adaptive
Backstepping
Parameter uncertainty
Path following
Wheeled mobile robot

Access to Document

10.1109/iCECE.2010.57

Cite this

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title = "A novel path following controller for an uncertain wheeled mobile robot",

abstract = "Feedback linearization approach and Lyapunov tool are used to construct an adaptive control law achieving asymptotical tracking of the desired geometric path in the presence of parameter uncertainties. Backstepping technique is used to obtain the control effort in the torque level. The advantage of the control scheme lies in that it removes the restrictions of the desired longitudinal velocity of the wheeled mobile robot being always positive or negative. Simulation results show the effectiveness of the proposed control scheme.",

keywords = "Adaptive, Backstepping, Parameter uncertainty, Path following, Wheeled mobile robot",

author = "Le Qi and Baoli Ma and Wei Li",

year = "2010",

doi = "10.1109/iCECE.2010.57",

language = "英语",

isbn = "9780769540313",

series = "Proceedings - International Conference on Electrical and Control Engineering, ICECE 2010",

pages = "205--208",

booktitle = "Proceedings - International Conference on Electrical and Control Engineering, ICECE 2010",

note = "International Conference on Electrical and Control Engineering, ICECE 2010 ; Conference date: 26-06-2010 Through 28-06-2010",

}

Qi, L, Ma, B & Li, W 2010, A novel path following controller for an uncertain wheeled mobile robot. in Proceedings - International Conference on Electrical and Control Engineering, ICECE 2010., 5630921, Proceedings - International Conference on Electrical and Control Engineering, ICECE 2010, pp. 205-208, International Conference on Electrical and Control Engineering, ICECE 2010, Wuhan, China, 26/06/10. https://doi.org/10.1109/iCECE.2010.57

A novel path following controller for an uncertain wheeled mobile robot. / Qi, Le; Ma, Baoli; Li, Wei.
Proceedings - International Conference on Electrical and Control Engineering, ICECE 2010. 2010. p. 205-208 5630921 (Proceedings - International Conference on Electrical and Control Engineering, ICECE 2010).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Ma, Baoli

AU - Li, Wei

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N2 - Feedback linearization approach and Lyapunov tool are used to construct an adaptive control law achieving asymptotical tracking of the desired geometric path in the presence of parameter uncertainties. Backstepping technique is used to obtain the control effort in the torque level. The advantage of the control scheme lies in that it removes the restrictions of the desired longitudinal velocity of the wheeled mobile robot being always positive or negative. Simulation results show the effectiveness of the proposed control scheme.

AB - Feedback linearization approach and Lyapunov tool are used to construct an adaptive control law achieving asymptotical tracking of the desired geometric path in the presence of parameter uncertainties. Backstepping technique is used to obtain the control effort in the torque level. The advantage of the control scheme lies in that it removes the restrictions of the desired longitudinal velocity of the wheeled mobile robot being always positive or negative. Simulation results show the effectiveness of the proposed control scheme.

KW - Adaptive

KW - Backstepping

KW - Parameter uncertainty

KW - Path following

KW - Wheeled mobile robot

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T3 - Proceedings - International Conference on Electrical and Control Engineering, ICECE 2010

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ER -

A novel path following controller for an uncertain wheeled mobile robot

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Keywords

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