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An adaptive unscented Kalman filter-based adaptive tracking control for wheeled mobile robots with control constrains in the presence of wheel slipping
| Content Provider | SAGE Publishing |
|---|---|
| Author | Cui, Mingyue Liu, Hongzhao Liu, Wei Huang, Rongjie Qin, Yi |
| Copyright Year | 2016 |
| Abstract | A novel control approach is proposed for trajectory tracking of a wheeled mobile robot with unknown wheels’ slipping. The longitudinal and lateral slipping are considered and processed as three time-varying parameters. The adaptive unscented Kalman filter is then designed to estimate the slipping parameters online, an adaptive adjustment of the noise covariances in the estimation process is implemented using a technique of covariance matching in the adaptive unscented Kalman filter context. Considering the practical physical constrains, a stable tracking control law for this robot system is proposed by the backstepping method. Asymptotic stability is guaranteed by Lyapunov stability theory. Control gains are determined online by applying pole placement method. Simulation and real experiment results show the effectiveness and robustness of the proposed control method. |
| Related Links | https://journals.sagepub.com/doi/pdf/10.1177/1729881416666778?download=true |
| ISSN | 17298806 |
| Issue Number | 5 |
| Volume Number | 13 |
| Journal | International Journal of Advanced Robotic Systems (ARX) |
| e-ISSN | 17298814 |
| DOI | 10.1177/1729881416666778 |
| Language | English |
| Publisher | Sage Publications UK |
| Publisher Date | 2016-10-06 |
| Publisher Place | London |
| Access Restriction | Open |
| Rights Holder | © The Author(s) 2016 |
| Subject Keyword | pole placement method unknown wheels’ slipping tracking control Adaptive unscented Kalman filter wheeled mobile robot |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Computer Science Applications Software |
