Adaptive region-reaching control for a non-holonomic mobile robot via system decomposition approach

摘要

This article focuses on the region-reaching control for a non-holonomic mobile robot system with two actuated wheels. The region-reaching control task consists of three basic control objectives: reaching an objective region, maintaining a rest state in the objective region, and stabilising at a desired posture. The constraints imposed on the motion of the mobile robot system are not integrable and have no inverse resolution, and thus increase the complexity of the controller design for non-holonomic systems. A system decomposition approach is proposed to convert the non-holonomic constraint control system to the cascade holonomic constraint control subsystems, and an adaptive control gain technique is presented to guarantee the stability of the non-holonomic system. Then, a novel torque controller is presented to implement the region-reaching control task. Specially, the objective region can be considered as a parking spot for a mobile robot.