Adaptive Tracking and Obstacle Avoidance Control for Mobile Robots with Unknown Sliding

Adaptive Tracking and Obstacle Avoidance Control for Mobile Robots with Unknown Sliding

Blog Article

An adaptive control approach is proposed for trajectory tracking and obstacle avoidance for mobile robots with consideration given to unknown sliding.A kinematic model of mobile robots is read more established in this paper, in which both longitudinal and lateral sliding are considered and processed as three time-varying parameters.A sliding model observer is introduced to estimate the sliding parameters online.

A stable tracking control law for this nonholonomic system is proposed to compensate the unknown sliding effect.From Lyapunov-stability analysis, it is proved, regardless of unknown sliding, that tracking errors of the controlled closed-loop system Neuw Rebel Skinny Eternal Black Jeans are asymptotically stable, the tracking errors converge to zero outside the obstacle detection region and obstacle avoidance is guaranteed inside the obstacle detection region.The efficiency and robustness of the proposed control system are verified by simulation results.