Abstract
In this study, a double-loop tracking control strategy is investigated to realize trajectory tracking control for a wheeled mobile robot (WMR) with unmodeled dynamics. More specifically, two nonlinear ESOs are designed to estimate disturbances from external disturbances and unmodeled dynamics. Combining with integral sliding mode control and backstepping control, a double-loop tracking controller is designed to enhance tracking accuracy for the WMR along the right angle roads. Based on Lyapunov methods, convergence analysis is given for both the nonlinear ESOs and the double-loop tracking controller. Validity of the double-loop tracking control strategy is demonstrated by experimental results on the WMR along a right angle road.
| Original language | English |
|---|---|
| Pages (from-to) | 525-534 |
| Number of pages | 10 |
| Journal | ISA Transactions |
| Volume | 136 |
| DOIs | |
| State | Published - May 2023 |
Bibliographical note
Funding Information:This work was supported by the National Natural Science Foundation of China under Grant ( 61733012 , 62073238 ).
Publisher Copyright:
© 2022 ISA
Keywords
- Double-loop tracking controller
- Extended state observer
- Right angle road
- Unmodeled dynamics
- Wheeled mobile robot
ASJC Scopus subject areas
- Control and Systems Engineering
- Instrumentation
- Computer Science Applications
- Electrical and Electronic Engineering
- Applied Mathematics
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