Adaptive perturbation rejection control and driving voltage circuit designs of wheeled mobile robots |
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| Authors: | Xiaozheng Jin Jizhou Yu Jiahu Qin Wei Xing Zheng Jing Chi |
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| Affiliation: | 1. School of Computer Science and Technology, Qilu University of Technology (Shandong Academy of Sciences), Jinan, Shandong 250353, PR China;2. Shandong Computer Science Center (National Supercomputer Center in Jinan), Jinan, Shandong 250014, PR China;3. Shandong Provincial Key Laboratory of Computer Networks, Jinan, Shandong 250014, PR China;4. School of Electrical Engineering and Automation, HeFei University of Technology, Hefei, Anhui 230009, PR China;5. Department of Automation, University of Science and Technology of China, Hefei, Anhui 230027, PR China;6. School of Computer, Data and Mathematical Sciences, Western Sydney University, Sydney, NSW 2751, Australia;7. Department of Computer Science and Technology, Shandong University of Finance and Economics, Jinan, Shandong250014, PR China;1. School of Engineering and Sciences, Tecnologico de Monterrey, Puente 222, Tlalpan Mexico city, 14380, Mexico;2. Department of Applied Physics and Electronics, Umeå University, Umeå 901 87, Sweden;1. School of Electronics Engineering, Kyungpook National University, 80 Daehakro, Bukgu, Daegu 41566, Republic of Korea;2. School of Architecture and Civil Engineering, Kyungpook National University, 80 Daehakro, Bukgu, Daegu 41566, Republic of Korea;3. Department of Control and Instrumentation Engineering, Pukyong National University, 45 Yongsoro, Namgu, Busan 48513, Republic of Korea;1. Department of Automation, University of Science and Technology of China, Hefei 230027, China;2. State Key Laboratory of Fire Science, Institute of Advanced Technology, University of Science and Technology of China, Hefei 230027, China;3. Key Laboratory of Technology in Geo-Spatial Information Processing and Application System, Chinese Academy of Sciences, Beijing 100190, China |
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| Abstract: | This paper addresses the robust trajectory tracking control problem for a class of wheeled robotic systems with perturbations caused by measurement errors, internal uncertainties, and exogenous disturbances. An adaptive technique is utilized to estimate the effects of perturbations. Then, on the basis of the adaptive estimations, perturbation rejection control schemes are developed to construct the kinematic control and dynamic control strategies. By utilizing Lyapunov stability theory, bounded tracking of the desired trajectory and asymptotic tracking of auxiliary azimuthal angular velocity and forward speed of the robot can be achieved respectively in the fact of perturbations. Furthermore, the adaptive perturbation rejection control (APRC) strategies are implemented physically by analog circuits to generate driving voltages of DC motors in the robot reality. The efficiency of the proposed trajectory tracking control method is validated by a robotic system. |
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