An adaptive technique for trajectory tracking control of a wheeled mobile robots without velocity measurements

摘要

This paper addresses an adaptive method for designing a sensorless trajectory tracking control scheme for a wheeled mobile robot. In order to reduce the cost of the robot, a new Nonlinear Observer (NOB) is used to leave out velocity sensors in the robot. Also, an adaptive model reference technique is used for designing the dynamic controller. In order to ensure the implementability of proposed controller, dynamic controller and nonlinear observer are designed in the presence of uncertainties. In addition, the Observer-based Kinematic Controller (OKC) is designed in the presence of sliding velocity. In order to improve the performance of the kinematic controller, sliding velocity is estimated and used for modification of kinematic controller. Finally, the effectiveness of the proposed method is demonstrated by simulations.