Ho-Nien Shou
Department of Aviation & Communication Electronics, Air Force Institute
of Technology, No.198, Jieshou W. Rd., Gangshan District, Kaohsiung, Taiwan
pp. 106-111
ABSTRACTIn 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 three parts: 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.
ARTICLE INFO
Article History
Received 23 Octoberr 2019
Accepted 01August 2020
Keywords
Nonholonomic mobile robot
Cerebellar model articulation controller
Lyapunov stability criterion
Disturbance observer
JAALR1301