Backstepping-based Robust Control for WMR with A Boundary in Prior for the Uncertain Rolling Resistance
Keywords:
Wheeled Mobile Robot (WMR), boundary estimation, uncertain rolling resistanceAbstract
In this study, we focus on the trajectory tracking control problem of
a wheeled mobile robot (WMR) in an uncertain dynamic environment. Concerning
the fact that the upper boundary may be usually achieved in prior according to the
physical properties of the terrain, this crucial message is utilized to construct the
controllers. Firstly, a dynamic model for WMR including the rolling resistance is
presented, whose state variables are longitudinal and rotational velocities, as well as
the rotational angle of the mobile platform. Secondly, with the aid of backstepping
technique, the robust controllers based on the upper boundary are proposed and the
globally asymptotic stability of the closed-loop system is proven by the Lyapunov
theory in the following. Lastly, a saturation function is applied to replace the signum
function, by which the inherent chattering can be suppressed greatly. Numerical
simulation results demonstrate that the proposed controllers with upper bound in
prior possess robustness characteristics which yields potentially valuable applications
for the mobile robot, especially in the unstructured environment.
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