Tracking stabilization of differential mobile robots using adaptive synchronized control

摘要

A new control algorithm for tracking stabilization of a differential mobile robot is developed by incorporating the cross-coupling technology into an adaptive control architecture. Unlike the majority of previous work in the literature, coordinates of robot wheels instead of the robot configuration, are directly controlled in a synchronous manner. The synchronization effort is aimed to regulate the differential position error of two driving wheels to zero and thus regulate the heading angle of the robot, so that the robot maintains in the desired trajectory path. The proposed adaptive synchronized controller guarantees an asymptotic convergence to zero of wheel displacement errors and the synchronization error between them. Under the condition that the initial error of the robot configuration is zero, the robot configuration converges to the desired state asymptotically. Experimental results demonstrate the effectiveness of the proposed approach.