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Vol. 208, Issue 1, January 2017, pp. 22-27




Trajectory Tracking Optimal Control for Nonholonomic Mobile Robot

Jianwei MA, Jiayu SHI and Haitao ZHANG

Henan University of Science & Technology, Luoyang, 471023, China
Tel.: 15236265350

E-mail: 137034342@qq.com


Received: 19 October 2016 /Accepted: 30 December 2016 /Published: 31 January 2017

Digital Sensors and Sensor Sysstems


Abstract: This paper discussed the problem of trajectory tracking control for the nonholonomic mobile robotís kinematic model with the angular speed of two actuated wheels as its control input. Based on the backstepping control algorithm, a sliding-mode variable structure switching function is designed, in order to improve the quality of motion control, fuzzy logic is used to adjust sliding-mode reaching law parameters. An adaptive control algorithm is proposed to compensate the unknown parameters, on the other hand. The stability of system is easily proven via the Lyapunov function. The simulation results are provided to illustrate the effectiveness of the controller.


Keywords: Mobile robot, Backstepping, Adaptive sliding mode control, Trajectory tracking.


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