A system decomposition method for region tracking control of a non-holonomic mobile robot with dynamic parameter uncertainties

Yu, J; Wu, M; Yang, W; Ji, J

A system decomposition method for region tracking control of a non-holonomic mobile robot with dynamic parameter uncertainties

Yu, J Wu, M Yang, W Ji, J

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Publisher:: WILEY
Publication Type:: Journal Article
Citation:: Asian Journal of Control, 2023
Issue Date:: 2023-01-01

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Field	Value	Language
dc.contributor.author	Yu, J
dc.contributor.author	Wu, M
dc.contributor.author	Yang, W
dc.contributor.author	Ji, J https://orcid.org/0000-0003-3280-5463
dc.date.accessioned	2024-01-09T05:39:10Z
dc.date.available	2024-01-09T05:39:10Z
dc.date.issued	2023-01-01
dc.identifier.citation	Asian Journal of Control, 2023
dc.identifier.issn	1561-8625
dc.identifier.issn	1934-6093
dc.identifier.uri	http://hdl.handle.net/10453/174152
dc.description.abstract	The tracking control problem of non-holonomic mobile robot systems has been extensively investigated in the past decades, however, most of the existing control strategies were developed specifically for the fixed-point tracking. This technical note focuses on the region tracking control for a non-holonomic mobile robot system with parameter uncertainties in the robot dynamics. With the system decomposition and adaptive control method, some restrictions imposed on the angular and linear velocities of the non-holonomic mobile robot in recent literature are removed, enabling to track dynamic trajectories with any values of the angular and line velocities. The proposed adaptive control scheme can simultaneously solve both the regulation and region tracking problems of a non-holonomic mobile robot with one passive wheel and two actuated wheels. By utilizing the designed control laws, the mobile robot system is able to globally reach inside a moving region specified by potential functions whose path can be a circular curve, a straight line, or sinusoidal curve, by using a single adaptive controller. Since the dynamic region can be specified arbitrarily small, the fixed-point tracking can be regarded as a special case of region tracking studied in this paper. Compared with the traditional fixed-point tracking, region tracking has more flexibility and better robustness. Numerical results are presented to show the effectiveness of the designed strategy.
dc.language	English
dc.publisher	WILEY
dc.relation.ispartof	Asian Journal of Control
dc.relation.isbasedon	10.1002/asjc.3276
dc.rights	info:eu-repo/semantics/closedAccess
dc.subject	0906 Electrical and Electronic Engineering, 0910 Manufacturing Engineering, 0913 Mechanical Engineering
dc.subject.classification	Industrial Engineering & Automation
dc.subject.classification	4007 Control engineering, mechatronics and robotics
dc.title	A system decomposition method for region tracking control of a non-holonomic mobile robot with dynamic parameter uncertainties
dc.type	Journal Article
utslib.for	0906 Electrical and Electronic Engineering
utslib.for	0910 Manufacturing Engineering
utslib.for	0913 Mechanical Engineering
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
utslib.copyright.status	closed_access	*
dc.date.updated	2024-01-09T05:39:08Z
pubs.publication-status	Published

Abstract:

The tracking control problem of non-holonomic mobile robot systems has been extensively investigated in the past decades, however, most of the existing control strategies were developed specifically for the fixed-point tracking. This technical note focuses on the region tracking control for a non-holonomic mobile robot system with parameter uncertainties in the robot dynamics. With the system decomposition and adaptive control method, some restrictions imposed on the angular and linear velocities of the non-holonomic mobile robot in recent literature are removed, enabling to track dynamic trajectories with any values of the angular and line velocities. The proposed adaptive control scheme can simultaneously solve both the regulation and region tracking problems of a non-holonomic mobile robot with one passive wheel and two actuated wheels. By utilizing the designed control laws, the mobile robot system is able to globally reach inside a moving region specified by potential functions whose path can be a circular curve, a straight line, or sinusoidal curve, by using a single adaptive controller. Since the dynamic region can be specified arbitrarily small, the fixed-point tracking can be regarded as a special case of region tracking studied in this paper. Compared with the traditional fixed-point tracking, region tracking has more flexibility and better robustness. Numerical results are presented to show the effectiveness of the designed strategy.

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http://hdl.handle.net/10453/174152