Online Identification Path Following Cascade Control of Non-holonomic Mobile Robot

Abstract

Abstract: A DC motor driven wheeled mobile robot path following control problem was considered, where the robot model was regarded as a cascade system consisting of the equation of the drive motor and the mobile robot kinematics equations. Taking the output speed of motor-driven equation as the input of the kinematic equations, identifying these time-varying parameters of the driven equation online, adding the values after identification to the controller, a feedback linearization path following control scheme was proposed. The scheme both investigates the dynamic characteristics of kinematics model and motor drive, so that the results better follow the actual cases. The stability proof and simulation results based on Lyapunov show the correctness and validity of the method.

Key words: mobile robot, online identification, cascaded system, feedback linearization, path following

CLC Number:

TP242.6

Liu Zilong, Hu Shaokai, Liu Jie, Wang Yagang. Online Identification Path Following Cascade Control of Non-holonomic Mobile Robot[J]. Journal of System Simulation, 2015, 27(11): 2748-2755.

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