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Adaptive Robust Constraint Following Control for Omnidirectional Mobile Robot: An Indirect Approach
- Source :
- IEEE Access, Vol 9, Pp 8877-8887 (2021)
- Publication Year :
- 2021
- Publisher :
- IEEE, 2021.
-
Abstract
- The tracking performance of mobile robot is often affected by uncertainties from the deviation of initial conditions, external disturbances and varying loads, etc. An Udwadia-Kalaba based adaptive robust control is proposed for the trajectory tracking of an omnidirectional mobile robot in the presence of uncertainties. The proposed control includes nominal control part based on Udwadia-Kalaba theory and adaptive robust control part. The desired trajectory is considered as a virtual servo constraint applied to the robot system and converted into the second order standard form. So that the analytical form of constraint force could be obtained via Udwadia-Kalaba Fundamental Equation (UKFE). The system will precisely obey the given constraint (i.e., the desired trajectory) under the obtained constraint force in ideal cases. No auxiliary variables are required and it is effective whether the constraints are holonomic or nonholonomic. The designed adaptive law is in leakage type and the adaptive parameters are adjusted according to the performance of the system in order to compensate for the effect caused by uncertainty in the system. No extra information of uncertainty is needed except for the existence of uncertainty bound. Comparing with PID control, it can be found that the proposed control has better performance and can realize higher precision trajectory tracking control.
- Subjects :
- General Computer Science
Computer science
uniformly bounded
PID controller
02 engineering and technology
01 natural sciences
Udwadia-Kalaba theory
Control theory
0103 physical sciences
0202 electrical engineering, electronic engineering, information engineering
adaptive robust control
General Materials Science
uncertainty
010301 acoustics
Nonholonomic system
Robot kinematics
Holonomic
General Engineering
constraint following
Mobile robot
Constraint (information theory)
Trajectory
Robot
020201 artificial intelligence & image processing
lcsh:Electrical engineering. Electronics. Nuclear engineering
Robust control
lcsh:TK1-9971
Servo
Subjects
Details
- Language :
- English
- ISSN :
- 21693536
- Volume :
- 9
- Database :
- OpenAIRE
- Journal :
- IEEE Access
- Accession number :
- edsair.doi.dedup.....07f5afbca91e343849422a6790b1f07d