Finite Time Identification and Adaptive Robust Tracking Control of wheeled Mobile Robot with Constraint in Inputs

摘要

In this paper, finite identification and tracking of a wheeled mobile robot (WMR) have been studied. First, a three-wheeled mobile robot with 3-DoF has been modeled with unknown time-varying parameters. Then, a Finite-Time identification algorithm is presented and it is shown that the system can be identified with the proposed algorithm efficiently. Then, a tracking controller is designed which helps the system track the desired trajectory. Finally, simulations are performed using a saturation function that regulates the motor torques due to the limitations of motor's power supplied. Results demonstrate efficiency and usefulness of the proposed tracking controller and identification method; the system tracks the desired trajectory in the presence of noise and uncertainty. Unknown parameters are also identified accurately.