Ho-Nien Shou
Pages 105-110
Abstract
In this paper, a novel trajectory following method based on hybrid control strategy is proposed for the trajectory following problem of mobile robots with nonholonomic constraints. The mobile robot controller is composed of threeparts: kinematics, dynamics equations and Cerebellar Model Articulation Controller. The control speed needed to realize the reference trajectory tracking is obtained from the motion equation under the position tracking error. The virtual control value of the control speed is obtained by using Lyapunov, and the controller is designed in the dynamic equation. The cerebellar model articulation controller (CMAC) is used to approximate the nonlinearity and uncertainty of the dynamic model of the mobile robot. At the same time, the torque controller is combined with the velocity error to form the torque controller. The influence of the uncertain disturbance on the system is compensated on-line. In the discussion in this paper, the nonlinear system is consider, and the Lyapunov stability criterion guarantees the global stability of the system and the asymptotical convergence of tracking error. The simulation results in Matlab/Simulink environment further verify the effectiveness and superiority of the proposed control algorithm.
Keywords: nonholonomic mobile robot, Cerebellar Model Articulation Controller, Lyapunov stability criterion, disturbance observer