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Trajectory tracking control of mobile robots without using longitudinal velocity measurements |
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| Authors: | Koei Maeda Masahiro Oya Qiang Wang Katsuhiro Okumura |
| Affiliation: | 1. Department of Mechanical and Control Engineering, Kyushu Institute of Technology, 1-1 Sensui-cho, Tobata-ku, Kitakyushu, Fukuoka, 804-8550, Japan 2. Department of Systems Design and Informatics, Kyushu Institute of Technology, Fukuoka, Japan 3. Fukuoka Industrial Technology Center, Fukuoka, Japan |
| Abstract: | We propose a new robust trajectory tracking control scheme for wheeled mobile robots without longitudinal velocity measurements. In the proposed controller, a velocity observer is used to estimate the longitudinal velocity of a wheeled mobile robot. A wheeled mobile robot model, including motor dynamics, is used to develop the controller. The developed controller has the following useful properties. (1) The developed controller does not require any accurate knowledge of the robot parameters or the motor parameters. Even if there are uncertainties in the robot dynamics, including the motor properties, it is certain that tracking errors ultimately become uniformly bounded in a closed-loop system using the developed controller. (2) It is shown theoretically that the ultimate norms of tracking errors can easily be reduced by setting only one design parameter. |
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