Robust adaptive path following control of nonholonomic mobile robots with transverse function approach

Gang Chen; Tingting Gao; Jiangshuai Huang; Wei Wang; Qingwei Jia

doi:10.1109/ChiCC.2014.6896480

Robust adaptive path following control of nonholonomic mobile robots with transverse function approach

Gang Chen^*
, Tingting Gao
, Jiangshuai Huang
, Wei Wang
, Qingwei Jia

^*Corresponding author for this work

Tongji University
Zhejiang Textile and Fashion College
Nanyang Technological University
Tsinghua University
Ltd

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

1 Scopus citations

Abstract

In this paper, a nonlinear adaptive control strategy is developed to force nonholonomic mobile robots to follow a predefined path, despite the presence of unknown system parameters and environmental disturbances. The techniques involved in the design and analysis include using the backstepping, parameter projection techniques and a traverse function. It is shown that with our proposed controller, the reference path can be followed globally with an arbitrarily small tracking error. Simulation results demonstrate the effectiveness of our proposed controllers.

Original language	English
Title of host publication	Proceedings of the 33rd Chinese Control Conference, CCC 2014
Editors	Shengyuan Xu, Qianchuan Zhao
Publisher	IEEE Computer Society
Pages	8801-8805
Number of pages	5
ISBN (Electronic)	9789881563842
DOIs	https://doi.org/10.1109/ChiCC.2014.6896480
State	Published - 11 Sep 2014
Externally published	Yes
Event	Proceedings of the 33rd Chinese Control Conference, CCC 2014 - Nanjing, China Duration: 28 Jul 2014 → 30 Jul 2014

Publication series

Name	Proceedings of the 33rd Chinese Control Conference, CCC 2014
ISSN (Print)	1934-1768
ISSN (Electronic)	2161-2927

Conference

Conference	Proceedings of the 33rd Chinese Control Conference, CCC 2014
Country/Territory	China
City	Nanjing
Period	28/07/14 → 30/07/14

Keywords

Nonholonomic mobile robots
Path following control
Robust adaptive control
Transverse function approach

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10.1109/ChiCC.2014.6896480

Cite this

Chen, G., Gao, T., Huang, J., Wang, W., & Jia, Q. (2014). Robust adaptive path following control of nonholonomic mobile robots with transverse function approach. In S. Xu, & Q. Zhao (Eds.), Proceedings of the 33rd Chinese Control Conference, CCC 2014 (pp. 8801-8805). Article 6896480 (Proceedings of the 33rd Chinese Control Conference, CCC 2014). IEEE Computer Society. https://doi.org/10.1109/ChiCC.2014.6896480

@inproceedings{006728033bf14028b3b0828721de41b8,

title = "Robust adaptive path following control of nonholonomic mobile robots with transverse function approach",

abstract = "In this paper, a nonlinear adaptive control strategy is developed to force nonholonomic mobile robots to follow a predefined path, despite the presence of unknown system parameters and environmental disturbances. The techniques involved in the design and analysis include using the backstepping, parameter projection techniques and a traverse function. It is shown that with our proposed controller, the reference path can be followed globally with an arbitrarily small tracking error. Simulation results demonstrate the effectiveness of our proposed controllers.",

keywords = "Nonholonomic mobile robots, Path following control, Robust adaptive control, Transverse function approach",

author = "Gang Chen and Tingting Gao and Jiangshuai Huang and Wei Wang and Qingwei Jia",

note = "Publisher Copyright: {\textcopyright} 2014 TCCT, CAA.; Proceedings of the 33rd Chinese Control Conference, CCC 2014 ; Conference date: 28-07-2014 Through 30-07-2014",

year = "2014",

month = sep,

day = "11",

doi = "10.1109/ChiCC.2014.6896480",

language = "英语",

series = "Proceedings of the 33rd Chinese Control Conference, CCC 2014",

publisher = "IEEE Computer Society",

pages = "8801--8805",

editor = "Shengyuan Xu and Qianchuan Zhao",

booktitle = "Proceedings of the 33rd Chinese Control Conference, CCC 2014",

address = "美国",

}

Chen, G, Gao, T, Huang, J, Wang, W & Jia, Q 2014, Robust adaptive path following control of nonholonomic mobile robots with transverse function approach. in S Xu & Q Zhao (eds), Proceedings of the 33rd Chinese Control Conference, CCC 2014., 6896480, Proceedings of the 33rd Chinese Control Conference, CCC 2014, IEEE Computer Society, pp. 8801-8805, Proceedings of the 33rd Chinese Control Conference, CCC 2014, Nanjing, China, 28/07/14. https://doi.org/10.1109/ChiCC.2014.6896480

Robust adaptive path following control of nonholonomic mobile robots with transverse function approach. / Chen, Gang; Gao, Tingting; Huang, Jiangshuai et al.
Proceedings of the 33rd Chinese Control Conference, CCC 2014. ed. / Shengyuan Xu; Qianchuan Zhao. IEEE Computer Society, 2014. p. 8801-8805 6896480 (Proceedings of the 33rd Chinese Control Conference, CCC 2014).

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

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T1 - Robust adaptive path following control of nonholonomic mobile robots with transverse function approach

AU - Chen, Gang

AU - Gao, Tingting

AU - Huang, Jiangshuai

AU - Wang, Wei

AU - Jia, Qingwei

PY - 2014/9/11

Y1 - 2014/9/11

N2 - In this paper, a nonlinear adaptive control strategy is developed to force nonholonomic mobile robots to follow a predefined path, despite the presence of unknown system parameters and environmental disturbances. The techniques involved in the design and analysis include using the backstepping, parameter projection techniques and a traverse function. It is shown that with our proposed controller, the reference path can be followed globally with an arbitrarily small tracking error. Simulation results demonstrate the effectiveness of our proposed controllers.

AB - In this paper, a nonlinear adaptive control strategy is developed to force nonholonomic mobile robots to follow a predefined path, despite the presence of unknown system parameters and environmental disturbances. The techniques involved in the design and analysis include using the backstepping, parameter projection techniques and a traverse function. It is shown that with our proposed controller, the reference path can be followed globally with an arbitrarily small tracking error. Simulation results demonstrate the effectiveness of our proposed controllers.

KW - Nonholonomic mobile robots

KW - Path following control

KW - Robust adaptive control

KW - Transverse function approach

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DO - 10.1109/ChiCC.2014.6896480

M3 - 会议稿件

AN - SCOPUS:84907938675

T3 - Proceedings of the 33rd Chinese Control Conference, CCC 2014

SP - 8801

EP - 8805

BT - Proceedings of the 33rd Chinese Control Conference, CCC 2014

A2 - Xu, Shengyuan

A2 - Zhao, Qianchuan

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T2 - Proceedings of the 33rd Chinese Control Conference, CCC 2014

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ER -

Chen G, Gao T, Huang J, Wang W, Jia Q. Robust adaptive path following control of nonholonomic mobile robots with transverse function approach. In Xu S, Zhao Q, editors, Proceedings of the 33rd Chinese Control Conference, CCC 2014. IEEE Computer Society. 2014. p. 8801-8805. 6896480. (Proceedings of the 33rd Chinese Control Conference, CCC 2014). doi: 10.1109/ChiCC.2014.6896480

Robust adaptive path following control of nonholonomic mobile robots with transverse function approach

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